Patient-Specific Robotic Bone Positioning With Dual-Point Fixation
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Solution Overview
Problem
Current bone surgery, particularly in procedures like total knee arthroplasty, faces challenges in accurately positioning bones due to the difficulty in immobilizing limbs during surgery, leading to uneven cutting and potential damage to nearby tissues, with existing methods relying heavily on human skill and prone to suboptimal implant fitting and complications.
Innovation Solution
A robotic system with a fixation device comprising two fixation elements, one for the proximal and one for the distal region of the bone, allowing rigid connection and controlled movement in six degrees of freedom, reducing the need for additional markers and improving bone positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If clamping the limb is used to provide reference position, then implementation is easy and safe, but accurate positioning for the robotic arm becomes difficult due to cushioning of flesh and muscles
Solution Approach 1:
The patent introduces a fixation device as an intermediary component between the robotic arm and the bone. This fixation device includes fixation elements that can be inserted into the bone to establish a rigid connection, thereby transmitting positioning accuracy from the robotic arm to the bone despite the presence of soft tissue cushioning.
Solution Approach 2:
The patent replaces the traditional mechanical clamping system with a fixation element-based system. Instead of relying on external clamps that struggle to penetrate soft tissue, the system uses inserted fixation elements that directly engage with the bone, enabling precise positional control through a different mechanical approach.
2Measurement precision
If setting marks on the bone is used to provide reference system, then positioning reference is provided, but it takes time and may introduce extra stress and damage in the already exposed bone
Solution Approach 1:
The fixation elements are inserted into the bone before the surgical procedure begins, establishing the reference positioning system in advance. This preliminary action eliminates the need for time-consuming mark-setting during surgery and avoids additional stress on the exposed bone.
Solution Approach 2:
The fixation elements serve as intermediary reference points that are already in place before surgery. These elements provide the necessary reference positions for the robotic arm without requiring additional marks to be set on the bone during the procedure.
3Ease of operation
If manual bone cutting is performed, then surgeon skill and judgment are applied, but it is a tiresome practice that may result in damage to nearby tissue or uneven cutting
Solution Approach 1:
The patent replaces manual cutting tools with a robotic cutting system that is rigidly connected to the fixation elements. This substitution enables automated, precise cutting operations that maintain cutting uniformity while reducing the physical effort and fatigue associated with manual cutting.
Solution Approach 2:
The robotic cutting system incorporates feedback mechanisms that monitor the cutting process in real-time, allowing for automatic adjustment to maintain precise cutting uniformity. The system can detect and compensate for variations in bone density, tool wear, and positioning to ensure consistent cutting results.
4Manufacturing precision
If robotic arm is used for automated cutting, then cutting precision is improved, but accurate information regarding position and surface of the bone is required that is difficult to obtain
Solution Approach 1:
The fixation elements are inserted into the bone before the robotic cutting procedure, establishing a known reference framework in advance. This preliminary action provides the robotic system with accurate positional and orientational information about the bone, eliminating the need for complex real-time sensing and registration systems.
Solution Approach 2:
The fixation elements serve as intermediary reference structures that bridge the gap between the robotic arm and the bone. These elements provide stable, known reference points that simplify the computational and mechanical tasks required for precise robotic cutting, reducing overall system complexity.
Data Source
AI summary
A robotic system is provided for assisting during bone surgery, adapted to control the position of a limb. The robotic system includes a robotic arm connected to a fixation device for rigidly connecting the distal bone to the robotic arm and allowing movement in six degrees of freedom. Specifically, the fixation device provides at least two fixation points to the distal bone. The first fixation point can be rigidly connected to the distal bone near the joint and the second fixation point can be rigidly connected to a distal position of the distal bone. The rigid connection of the distal bone to the robotic arm allows the robotic system to impose controlled movement on the distal bone in six degrees of freedom.