Percutaneous Robotic Spinal Tool Guidance for Precise Screw Placement
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Solution Overview
Problem
Current robotic surgical systems for spinal surgeries are hindered by high costs, complex preoperative planning, physical intrusiveness, non-intuitive operation, vulnerability to malfunction, and lack of precision, particularly in procedures requiring precise screw placement near the spine, which can lead to catastrophic errors due to the proximity of the spinal cord and arteries.
Innovation Solution
A minimally invasive robotic surgical system using a portable robot arm with a force sensor and end effector for precise positioning of surgical tools, allowing for percutaneous techniques that minimize tissue damage and scarring, while providing intuitive operation and reduced training requirements, by guiding surgical instruments with a planned trajectory defined using CT images and real-time feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic systems are used for spinal surgery, then surgical precision is improved, but cost and device complexity increase
Solution Approach 1:
The robotic system is divided into modular components: a portable robot arm, interchangeable end effectors, and separate imaging integration. This segmentation allows the system to achieve high precision through specialized modules while keeping each component relatively simple and manageable, reducing overall system complexity.
Solution Approach 2:
The system incorporates real-time feedback mechanisms where sensors monitor surgical tool position and provide automatic correction signals to the robot arm. This self-correction capability maintains high surgical precision without requiring complex manual control systems, thereby reducing operational complexity.
2Manufacturing precision
If robotic systems are used for spinal surgery, then surgical precision is improved, but operation time and preparation time increase
Solution Approach 1:
The system performs preoperative planning and trajectory calculation before the surgical procedure begins. The robot arm is pre-positioned and calibrated using preoperative imaging data, so that when surgery starts, precision is already established without time-consuming adjustments during the procedure.
Solution Approach 2:
The system replaces manual mechanical positioning with automated robotic positioning controlled by computer algorithms. This substitution eliminates the need for surgeons to manually adjust and measure positions during surgery, maintaining high precision while reducing preparation and operation time.
3Manufacturing precision
If robotic systems are used for spinal surgery, then surgical precision is improved, but physical intrusiveness increases
Solution Approach 1:
The robotic system applies precision only where needed - at the surgical site through the end effector - rather than requiring the entire surgical environment to be controlled. This localized precision approach allows the use of minimally invasive techniques with small incisions while maintaining high accuracy at the critical bone-implant interface.
Solution Approach 2:
The system uses imaging technology and computer vision as intermediaries between the surgeon's intent and the robotic arm's physical action. This intermediary layer allows precise control without requiring the surgeon to be physically present at the surgical site, reducing physical intrusiveness while maintaining precision.
4Ease of operation
If manual drilling techniques are used for screw placement, then operation simplicity is maintained, but precision and safety decrease
Solution Approach 1:
The robotic system incorporates real-time feedback from sensors that monitor drill position, angle, and depth. This feedback is continuously processed to maintain precise trajectory control during drilling, ensuring accurate screw placement while keeping the drilling action itself simple and automated.
Solution Approach 2:
The system creates a virtual model of the patient's anatomy from imaging data and uses this digital copy to plan and execute the drilling trajectory. This virtual copying allows complex precision calculations to be performed beforehand, making the actual drilling operation simple and routine while ensuring high precision through pre-planned paths.
Data Source
AI summary
Described herein are systems, apparatus, and methods for precise placement and guidance of tools during surgery, particularly spinal surgery, using minimally invasive surgical techniques. Several minimally invasive approaches to spinal surgeries were conceived, percutaneous technique being one of them. This procedures looks to establish a skin opening as small as possible by accessing inner organs via needle-puncture of the skin. The percutaneous technique is used in conjunction with a robotic surgical system to further enhance advantages of manual percutaneous techniques by improving precision, usability and/or shortening surgery time by removal of redundant steps.