Parabolic Haptic Volume for Single-Stage Acetabular Reaming
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Solution Overview
Problem
Current haptic robotic systems for surgical bone reaming in total hip arthroplasty surgeries are limited by straight-line haptic paths, which restrict single-stage reaming and increase the complexity and time required for procedures, especially when dealing with multiple surgical tools and precise angular orientations, leading to potential misalignment and complications.
Innovation Solution
A haptic robotic surgical system that generates a parabolic haptic volume, allowing movement within the volume and providing feedback to constrain the cutting tool, enabling single-stage reaming and accommodating various tool sizes and orientations through Equations (1) and (2) for optimal acetabular cup positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a straight-line haptic path is used to constrain the cutting tool, then manufacturing precision of the reamed indentation is improved, but the ease of operation is worsened due to inability to accommodate single-stage reaming and multiple tool configurations
Solution Approach 1:
The patent transitions from a one-dimensional straight-line haptic path constraint to a three-dimensional haptic volume constraint. The haptic volume is defined by a paraboloid surface with the intended indentation center as vertex and the planned cup radius as parameter, allowing the cutting tool to move freely within this volumetric boundary while maintaining precision at the target location.
Solution Approach 2:
The patent changes the constraint parameter from a fixed straight-line path to a volumetric region defined by paraboloid geometry. The haptic volume parameters (vertex position, radius) are dynamically adjusted based on the intended indentation location and the specific cutting tool being used, allowing adaptation to different tool sizes and reaming strategies including single-stage reaming.
2Adaptability or versatility
If multiple surgical tools with different configurations are used, then adaptability of the surgical procedure is improved, but the device complexity is worsened due to need for removing and attaching different tools
Solution Approach 1:
The haptic volume constraint system serves as a universal control mechanism that works with multiple types of cutting tools (different sizes, configurations, and functions). The same volumetric boundary defined by the paraboloid geometry accommodates various reamers and surgical instruments, eliminating the need for tool-specific haptic paths and simplifying the overall control architecture.
3Measurement precision
If a straight-line haptic path is enforced, then measurement precision of tool position is improved, but the productivity is worsened due to increased operating time from multi-stage procedures
Solution Approach 1:
The haptic constraint transitions from a static straight-line path to a dynamic volumetric region. The paraboloid-shaped haptic volume allows the cutting tool to dynamically adjust its position within the volume boundaries during single-stage reaming, enabling faster completion of the procedure while maintaining precision through real-time haptic feedback within the defined geometric constraints.
Data Source
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AI summary
A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.