Robotic Cement Delivery Tracking for Moving Target Bone
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Solution Overview
Problem
Existing medical delivery systems struggle to accurately track and maintain the position of a delivery device relative to a target site on a patient, especially during procedures where patient movement occurs, affecting the precision of material delivery patterns and flow rates.
Innovation Solution
A surgical system incorporating a robotic manipulator, delivery device, localization system, and imaging system to track the positions of the delivery device and target bone, allowing for precise control of the delivery device's movement and material flow based on real-time positional data, with a virtual boundary constraining the delivery to ensure accurate material placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic arm positions the printhead relative to the target site, then the position of the delivery device is controlled, but patient movement causes loss of position accuracy
Solution Approach 1:
The system employs a localization system that continuously tracks the positions of both the delivery device and the target site, providing real-time feedback to the control system. This feedback loop enables dynamic adjustment of the robotic manipulator to compensate for patient movement, maintaining accurate relative positioning throughout the procedure.
Solution Approach 2:
The system transitions from static positioning to dynamic tracking by continuously monitoring and adjusting the delivery device position in response to real-time changes in target site position. The robotic manipulator dynamically adapts its positioning based on live localization data, ensuring consistent accuracy despite patient movement.
2Measurement precision
If real-time tracking is implemented to accommodate patient movement, then position accuracy is maintained, but system complexity increases
Solution Approach 1:
The localization system serves multiple functions: tracking the target site position, tracking the delivery device position, and providing data for control adjustments. This multi-functionality reduces the need for separate systems and minimizes overall system complexity while maintaining high position tracking accuracy.
3Manufacturing precision
If the delivery device position is continuously adjusted to maintain accuracy, then material delivery precision is improved, but delivery time increases
Solution Approach 1:
The system maintains continuous tracking and adjustment of the delivery device position throughout the material delivery process, eliminating the need for repeated repositioning or pausing. This continuous action ensures consistent precision while minimizing interruptions that would extend delivery time.
Data Source
AI summary
Surgical systems and methods for delivery of cement to a target bone involve a robotic manipulator that supports a delivery device. The delivery device has a distal tip with an opening through which cement can be delivered to the target bone. A localization system and/or imaging system obtain images of the delivery device and the target bone to track positions of the delivery device and the target bone. Controller(s) utilize the tracked positions to determine a control parameter for the robotic manipulator and/or the delivery device, the control parameter relating to delivery of cement to the target bone.