Robot-Assisted Surgical Tool Insertion With Multiaxis Force-Moment Feedback
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Solution Overview
Problem
Accurate and perpendicular drilling in complex bone structures is challenging due to manual handling of drill guides and the tendency of surgical instruments to wander from intended locations, especially at steeper bone angles, affecting surgical success.
Innovation Solution
A robot-assisted surgical system with load cells and tracking markers to monitor and correct the movement of surgical instruments, providing real-time feedback on forces and moments to prevent unintended movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a surgeon manually holds and positions a drill guide tube using a guidance system, then the surgeon can perform the surgical procedure, but the process is tedious and time-consuming with low precision
Solution Approach 1:
The system uses automatic tracking markers and image processing to self-determine the position and orientation of surgical instruments, eliminating the need for manual positioning by the surgeon. The guidance system automatically overlays the instrument position onto the 3D bone structure image, providing precise localization without surgeon intervention.
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated optical tracking system. Tracking markers on the drill guide tube are detected by a camera system, and computer vision algorithms calculate the instrument's 3D position and orientation, substituting the surgeon's manual mechanical adjustment with automated optical-mechanical measurement.
2Reliability
If a sharp surgical instrument is driven into bone at a steep angle, then penetration may be achieved, but the tool tip wanders or skives along the bone surface due to increased reaction forces
Solution Approach 1:
The system continuously monitors the position and orientation of the surgical instrument relative to the planned trajectory using tracking markers and provides real-time visual feedback. When the instrument deviates from the intended path due to skiving forces, the guidance system displays the deviation, allowing the surgeon to correct the position. The system can also provide haptic feedback through the robot arm to guide the instrument along the correct path.
Solution Approach 2:
The patent introduces a robot arm as an intermediary between the surgeon and the surgical instrument. The robot arm holds the drill guide tube and provides stable positioning, isolating the surgeon from the difficult task of manually controlling the instrument at steep angles. The robot arm can compensate for skiving forces and maintain the instrument along the planned trajectory, making the procedure easier and more reliable.
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
Enhances surgical precision by automatically correcting the path of surgical instruments, reducing manual effort and improving the accuracy of procedures like vertebrae fusion.
Implementation Method 1
one or more load cells may be configured to measure forces and moments associated with the insertion force
Data Source
AI summary
Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.