2D Image-Guided Robotic Distal Locking System
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Solution Overview
Problem
The distal locking procedure in intramedullary nailing is challenging due to the need for excessive X-ray exposure, which poses risks to both surgeons and patients, and existing computer-assisted techniques require additional hardware such as optical or electromagnetic trackers.
Innovation Solution
A 2D image-guided surgical robot system that uses C-arm X-ray machines for closed-loop control, eliminating the need for optical or electromagnetic trackers, and employing a visual servo-based control method for precise alignment and drilling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional X-ray imaging is used for distal locking, then the surgeon can visualize the lockholes, but excessive X-ray exposure is required which is harmful to both surgeon and patient
Solution Approach 1:
The system uses C-arm X-ray machines to acquire images of the lockholes and provides real-time feedback to the robotic system. The robotic system adjusts its positioning based on this feedback, enabling precise distal locking with minimal X-ray exposure through closed-loop control.
Solution Approach 2:
The patent replaces the traditional mechanical/procedural approach of manual drilling guided by X-ray images with an automated robotic system. The robot uses visual servo control to automatically position and drill the lockholes, reducing the need for repeated X-ray imaging and manual adjustment.
2Object-affected harmful factors
If optical navigation or electromagnetic navigation systems are used, then distal locking can be performed with less X-ray exposure, but additional hardware such as optical trackers or customized intramedullary nails with electromagnetic trackers are required
Solution Approach 1:
The system uses the C-arm X-ray machine, which is already a standard piece of equipment in the operating room, for both imaging and guiding the robotic distal locking procedure. This eliminates the need for separate optical trackers or electromagnetic navigation hardware, as the C-arm serves multiple functions.
Solution Approach 2:
The C-arm X-ray machine performs the dual function of imaging and guidance without requiring external assistance from separate navigation systems. The robotic system processes the X-ray images directly to determine lockhole positions and guide drilling, making the system self-sufficient without additional specialized hardware.
3Productivity
If visual servo technology is used, then real-time robot motion control can be achieved, but the system requires sophisticated image processing and control algorithms
Solution Approach 1:
The visual servo system continuously acquires X-ray images, processes them to identify lockhole positions, and uses this feedback to control the robotic arm in real-time. The closed-loop control ensures precise positioning and alignment during the distal locking procedure.
Solution Approach 2:
The patent replaces complex mechanical alignment mechanisms with computational image processing and visual servo control. Instead of using mechanical guides or trackers, the system uses digital image analysis and algorithmic control to achieve real-time positioning accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system significantly reduces X-ray exposure for both patients and medical personnel while providing precise control for distal locking, enhancing the safety and efficiency of the surgical process.
Implementation Method 1
The surgical image acquisition device provides intraoperative 2D images
Data Source
AI summary
A 2D image-guided surgical robot system for distal locking operations includes surgical image acquisition equipment, a robot arm, a robot end effector attached to the robot arm, and a remote operation workstation. To perform a distal locking operation, the position of the image acquisition device is adjusted to obtain a round outline of a lockhole in the image. A distortion correction is performed. The position of the target lockhole is assigned by a user through the GUI of the remote operation workstation, and the remote operation workstation calculates a robot motion quantity using image feedback control law and moves the robot accordingly. The “image-and-move” procedure is repeated several times until the drill guide is accurately aligned to the lockhole, then the distal locking operation is accomplished by first drilling a guide hole using a guide wire through the drill guide, and then screwing a locking screw through the guide hole.