Optical Vertebral Tracking for Radiation-Free Robotic Spinal Surgery
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Solution Overview
Problem
Existing robotic spinal surgery techniques require intraoperative X-ray imaging, leading to patient and surgical team radiation exposure, operational constraints, and precision issues due to relative vertebral movements, especially when implants are far from the fixed marker on the spine, limiting robot assistance to positioning aids without significant time savings.
Innovation Solution
A spinal surgery system using preoperative mapping data to create a patient-specific vertebral localization element with a custom coupling face and optical marker, combined with a robot and optical capture device to determine real-time positioning of the end effector relative to the vertebra, eliminating the need for intraoperative X-ray imaging and complex algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If intraoperative X-ray imaging devices are used to position the robotic arm, then the positioning accuracy is improved, but the patient and surgical team are exposed to significant radiation and the operational complexity increases
Solution Approach 1:
The patent replaces the X-ray imaging system with an optical tracking system. Instead of using ionizing radiation to visualize and track anatomical structures, the invention uses optical cameras to detect reflective markers placed on the patient's anatomy and surgical instruments. This substitution eliminates radiation exposure while maintaining real-time positioning capabilities through optical field-based measurement.
2Measurement precision
If traditional navigation systems with multiple markers are used, then the positioning capability is improved, but the device complexity and time required for instrument identification increase
Solution Approach 1:
The patent implements a universal tracking marker that serves multiple functions: it can be placed on the patient's anatomy to track vertebral position, on surgical instruments to track their location, and even on the robotic arm itself for self-tracking. This single marker design replaces the need for multiple specialized markers, simplifying the system while maintaining comprehensive tracking capability across all surgical elements.
Solution Approach 2:
The patent merges the tracking of multiple surgical instruments and anatomical structures into a unified optical coordinate system. By using a common marker design and a coordinated camera system that tracks all markers simultaneously, the invention consolidates what would otherwise require separate tracking systems into one integrated solution, reducing overall system complexity.
3Measurement precision
If the surgeon manually identifies each instrument with the camera, then the tracking accuracy is improved, but the surgical time and productivity are reduced
Solution Approach 1:
The patent implements self-tracking capability where the robotic arm carries its own reflective marker. This allows the system to automatically track the position and orientation of the robotic arm and its end effector without requiring manual intervention. The marker on the robotic arm enables the optical system to continuously monitor its own position, eliminating the need for surgeons to manually identify and track each instrument, thereby maintaining accuracy while significantly reducing surgical time.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and safe robotic positioning of surgical instruments relative to vertebrae without radiation, allowing real-time adjustments for patient movements, thus enhancing surgical precision and safety while reducing costs and complexity.
Implementation Method 1
an optical capture device that is at least partially supported by the end effector organ and that deduces in real time positioning data concerning the relative positioning between this marker and the end effector organ
Data Source
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AI summary
The spinal surgery system (S) comprises bone mapping means providing preoperative mapping data relating to a patient's vertebra (V1), a vertebral localization element (50) provided with a patient-specific coupling face for coupling to the vertebra in a unique fixed position and a three-dimensional optical marker, a robot (60) comprising a movable arm (62) and carrying an end effector organ (64), an optical capture device (80), which is at least partially carried by the end effector organ and is adapted to observe the marker on the vertebral localization element and deduce in real time relative positioning data between this marker and the end effector organ, and processing means (90) which, from the preoperative mapping data and the positioning data,determine in real time the relative positioning between the end effector organ and the vertebra, by calculating, in a three-dimensional spatial coordinate system defined by the three-dimensional optical marker, the position of the end effector organ and comparing this position of the end effector organ with a region of space occupied by the vertebra as modeled by preoperative mapping data.