Orthopedic Surgical Robot Visual Servo Fracture Reduction
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Solution Overview
Problem
Current orthopedic surgical robots for fracture reduction face challenges such as extensive X-ray exposure for doctors, time-consuming calibration processes, additional patient injuries from trackers, high surgery costs, and limited real-time accuracy due to open-loop control and reliance on indirect feedback methods.
Innovation Solution
A remotely operated orthopedic surgical robot system using visual servo technology for closed-loop control, eliminating the need for complex registration procedures and optical markers, allowing doctors to interactively plan fracture reduction paths through a graphical user interface, and utilizing G-arm or C-arm X-ray machines for real-time image-based feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional surgical navigation technologies (CT, X-ray, infrared optical tracking) are used to provide coordinate information for orthopedic surgical robots, then the robot can perform fracture reduction operations, but the system requires time-consuming preoperative calibration, additional trackers that cause extra patient injuries, and expensive customized navigation equipment
Solution Approach 1:
The patent extracts and eliminates the complex calibration procedures and additional tracking equipment from the surgical navigation system. By using the existing surgical robot's own imaging capabilities and pre-acquired CT data, the system removes the need for separate infrared optical tracking systems and their associated calibration processes, thereby simplifying the overall device complexity while maintaining positioning accuracy
Solution Approach 2:
The surgical robot system is designed to perform multiple functions: it can acquire CT data, perform image processing, provide navigation information, and execute fracture reduction operations all through a single integrated platform. This multi-functionality eliminates the need for separate customized navigation systems, reducing equipment complexity and cost while maintaining reliable position and pose information
2Productivity
If open-loop control with preoperative planning is used for surgical robot operation, then the robot can execute precalculated trajectories, but the system cannot make real-time adjustments to errors caused by preoperative planning inaccuracies, optical tracker deformation, or patient movement during surgery
Solution Approach 1:
The patent implements a closed-loop control system that continuously monitors the actual position and pose of the surgical tool relative to the bone fragment using real-time image processing. The system compares this feedback information with the planned trajectory and automatically adjusts the robot's motion to compensate for deviations caused by preoperative planning errors, optical tracker deformation, or patient movement, thereby maintaining high reduction accuracy throughout the surgery
Solution Approach 2:
The control system transitions from static preoperative planning to dynamic real-time adjustment. The robot continuously adapts its motion trajectory based on real-time visual feedback, allowing it to respond to changing surgical conditions such as bone fragment movement or deformation of tracking markers, thereby maintaining precision throughout the dynamic surgical process
3Reliability
If indirect feedback methods like infrared optical tracking are used for real-time feedback in surgical robots, then the robot can adjust its position during surgery, but the feedback is not based on direct image information and requires mounting optical markers that cause extra patient injuries
Solution Approach 1:
The system uses the surgical robot's own imaging system to capture and process images of the surgical site for feedback purposes. The robot's end effector or integrated camera system directly images the bone fragments and surgical tools, eliminating the need for separate optical tracking markers on the patient. This self-service approach provides real-time feedback without causing additional patient injuries
Solution Approach 2:
The patent replaces the mechanical/optical marker-based tracking system with a direct image processing system. Instead of using infrared markers that require physical attachment to the patient's body, the system uses digital image processing of X-ray or fluoroscopic images to track bone fragment position and guide the robot, thereby eliminating the harmful mechanical intervention of marker attachment
Data Source
AI summary
A remotely operated orthopedic surgical robot system for performing a fracture reduction operation using a visual-servo control method is provided. The system includes the surgical image acquisition equipment, the fracture reduction robot and the remote operation workstation. The fracture reduction robot has a plurality of types. The remote operation workstation includes a graphical user interface for doctors to examine the fracture reduction path planning result made by an artificial intelligence algorithm and to manually perform the path planning. The remote operation workstation calculates the robot control quantity using the visual servo control method according to the path planning result and sends it to the robot.