Force-Controlled Robotic Arm for Precise Spinal Screw Trajectory
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Solution Overview
Problem
Current robotic surgical systems are expensive, require extensive preoperative planning, can be physically intrusive, non-intuitive, and vulnerable to malfunction or operator error, particularly in spinal surgeries where precision is critical for procedures like screw placement, which often rely on manual expertise and are prone to screw misplacement due to inaccuracies in image-guided systems.
Innovation Solution
A robotic surgical system with a force and/or torque control end-effector, actuator, tracking detector, and processor that maintains a surgical instrument along a pre-planned trajectory, allowing real-time alignment and automatic adjustment to ensure precise placement of surgical tools, integrating with existing instruments and methods, and providing haptic steering and force feedback for improved accuracy and reduced radiation exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual drilling and screw placement is performed based on pre-operative CT scans or fluoroscopy, then surgical flexibility and surgeon expertise can be utilized, but precision and accuracy are compromised leading to screw misplacement
Solution Approach 1:
The patent introduces a robotic system as an intermediary between the surgeon's intent and the actual drilling/screw placement actions. The robotic arm with force control end-effector acts as a mediator that translates surgical plans into precise physical actions, eliminating direct manual manipulation while maintaining surgical control through a different interface paradigm.
Solution Approach 2:
The patent replaces the manual mechanical system of holding and manipulating drills with a robotic mechanical system. The force control end-effector substitutes the surgeon's hand, providing controlled drilling forces and precise trajectory following without requiring direct manual manipulation, thereby improving precision while reducing mechanical complexity of hand-held tool coordination.
2Manufacturing precision
If robotic systems are used to improve surgical precision, then accuracy in screw placement is enhanced, but the systems become expensive and physically intrusive
Solution Approach 1:
The patent extracts the essential function of precision control from complex robotic systems and isolates it into a focused force control end-effector module. By separating the force control function from the complete robotic system, the invention reduces the physical footprint and cost while maintaining the precision benefits, allowing selective implementation of only the critical control components.
Solution Approach 2:
The patent applies force control locally at the end-effector interface with the surgical tool rather than requiring global control of an entire robotic system. This localized approach concentrates precision control where it is most needed (at the drilling/screw placement point) while minimizing the complexity and cost of the overall system architecture.
3Manufacturing precision
If extensive preoperative planning is performed to ensure surgical accuracy, then screw placement precision is improved, but preparation time in the operating room is extended
Solution Approach 1:
The patent performs trajectory planning and force control parameters setup in advance, before the actual surgical procedure begins. The robotic system pre-calculates drilling paths and pre-configures force control parameters based on pre-operative imaging, eliminating the need for time-consuming intraoperative adjustments and reducing operating room preparation time while maintaining high precision.
Solution Approach 2:
The patent implements real-time feedback control during the surgical procedure, where the force control end-effector continuously monitors drilling forces and trajectory deviations, automatically adjusting parameters to maintain precision. This real-time feedback eliminates the need for extensive preoperative planning adjustments and reduces preparation time by handling corrections dynamically during surgery.
4Ease of operation
If manual coordination of surgical tools is performed by the surgeon, then operational flexibility is maintained, but procedural errors and registration inaccuracies increase
Solution Approach 1:
The patent introduces a robotic control system as an intermediary between the surgeon's commands and the actual tool manipulation. This mediator automates the coordination of drilling, tapping, and screw placement actions, eliminating manual coordination errors while preserving surgical intent and flexibility through high-level command interfaces.
Solution Approach 2:
The robotic system performs self-correction and self-coordination of surgical tools without requiring continuous manual intervention. The force control end-effector automatically adjusts drilling forces, maintains trajectory alignment, and coordinates sequential tool changes, enabling the system to service itself and reduce procedural errors while maintaining ease of operation through automated routines.
Data Source
AI summary
A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.