Robotic Surgical Tool Recovery Alignment for Planned Resection
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Solution Overview
Problem
Current robotically-assisted surgical systems face challenges in accurately and efficiently realigning surgical tools to their original positions and orientations after interruptions or deviations during bone preparation procedures in orthopedic surgeries.
Innovation Solution
The system defines a virtual geometry associated with a planned resection and determines the first pose of a surgical tool. It then automatically moves the surgical tool to both the virtual geometry and a target orientation, allowing for manual movement within a defined plane while providing force feedback to prevent deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual realignment of surgical tools is performed after interruptions, then flexibility and adaptability are maintained, but time consumption and operational efficiency deteriorate
Solution Approach 1:
The system performs automatic self-realignment of the surgical tool after interruptions. The controller automatically determines the original pose from stored data and commands the robotic device to restore the tool to its correct position and orientation without requiring manual intervention, thereby reducing surgical operation time while maintaining alignment accuracy
Solution Approach 2:
The system stores the original pose of the surgical tool before the bone preparation procedure begins. When an interruption occurs, the pre-stored pose information enables rapid recovery alignment without requiring time-consuming manual reorientation, as the target position and orientation are already determined and ready for automatic restoration
2Productivity
If automatic realignment systems are implemented, then surgical operation time is reduced, but system complexity increases
Solution Approach 1:
The controller continuously monitors the pose of the surgical tool during bone preparation and compares it against the stored original pose. When deviations or interruptions are detected, the system provides automatic feedback control by calculating the correction needed and commanding the robotic device to restore the tool to its correct position, enabling efficient automatic realignment through closed-loop control
Solution Approach 2:
The system replaces manual mechanical realignment operations with an automated control system. The controller electronically determines the original pose from stored data and automatically commands the robotic device to restore the surgical tool to its correct position and orientation, substituting human manual operations with automated computational and robotic systems to improve surgical efficiency
3Manufacturing precision
If the surgical tool is constrained to a defined plane, then alignment precision is improved, but operational flexibility is reduced
Solution Approach 1:
The system dynamically adjusts the constraint level applied to the surgical tool. During normal operation, the tool can move freely within the defined plane for operational flexibility. When alignment precision is required or interruptions occur, the controller activates automatic realignment constraints to restore precise positioning, allowing the system to adapt between flexible manual operation and precision-controlled alignment modes as needed
Data Source
AI summary
A method of operation of a robotically-assisted surgical system includes defining a virtual geometry associated with a planned resection, determining a first pose of a surgical tool, defining a target orientation for the surgical tool based on the first pose, controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation