Robotic Dilator Probe Sleeve System for Vertebral Channel Creation
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Solution Overview
Problem
Current surgical techniques for placing implants in vertebrae, such as pedicle screws, are challenging due to the need for precise positioning and orientation, especially in minimally invasive procedures. Existing methods rely on flexible Kirschner wires that can bend or break, and current robotic systems do not facilitate the robot-assisted advancement of tools or implants within the bone, leading to inaccuracies and increased surgical time.
Innovation Solution
A surgical system comprising a robotic manipulator, a dilator probe, a sleeve, and a navigation system, which works together to accurately align and advance the dilator probe and sleeve through soft tissue and into the vertebra, creating a working channel for subsequent tools or implants. The system allows for precise control and tracking of the vertebral body, ensuring accurate placement of implants.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Kirschner wires are used to establish desired orientation, then the screw can be inserted to the desired position, but the K-wires may bend or break and the accuracy relies largely on surgeon expertise
Solution Approach 1:
The patent replaces the manual mechanical K-wire system with a robotic system that uses navigation data and computer-controlled mechanisms to establish and maintain the desired orientation throughout the procedure, eliminating the reliability issues of flexible K-wires while maintaining measurement precision
Solution Approach 2:
The patent introduces a robotic manipulator as an intermediary between the navigation system and the screw insertion process. The robotic manipulator receives orientation data from the navigation system and executes the positioning with high precision, serving as a reliable mediator that eliminates the need for manual K-wire manipulation
2Ease of manufacture
If multiple distinct instruments are used for different surgical steps, then each function can be performed with specialized tools, but the time and effort to move between tools increases surgical time
Solution Approach 1:
The patent designs the robotic manipulator as a universal platform that can perform multiple surgical functions including drilling, screw insertion, and tool advancement through software control and end-effector changes, eliminating the need to physically move between multiple specialized instruments while maintaining all necessary functional capabilities
Solution Approach 2:
The patent combines multiple surgical functions into a single robotic system that can execute drilling, screw placement, and tool advancement operations through coordinated robotic manipulators, merging what would traditionally require separate instruments and manual operations into one integrated automated system
3Measurement precision
If current robotic surgical systems are used to control alignment, then alignment precision is improved, but the systems do not facilitate robot-assisted advancement of tools or implants within the bone
Solution Approach 1:
The patent implements dynamic control where the robotic manipulator can adjust its position and apply force during the screw advancement process, allowing real-time adaptation as the screw is pushed into the bone, transitioning from static alignment to dynamic, controlled advancement
Solution Approach 2:
The robotic manipulator serves as an intermediary that not only positions tools with high precision but also facilitates the advancement of screws and implants through the bone by applying controlled force, bridging the gap between alignment and insertion functions
Data Source
AI summary
Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A dilator probe is configured to be attached to a robotic manipulator. A sleeve is disposed coaxially around the dilator probe and releasably engaged with the dilator probe. A navigation system tracks the vertebral body and defines an insertion trajectory with respect to the vertebral body. Controller(s) control the robotic manipulator to align the dilator probe and the sleeve to the insertion trajectory and advance the dilator probe and the sleeve along the insertion trajectory to penetrate the soft tissue. After penetration of the soft tissue, the sleeve remains embedded in the soft tissue and the dilator probe is robotically or manually retracted to disengage from the sleeve to enable the sleeve to create a working channel through the soft tissue.