Robotic Endoscope Alignment via Radio-Opaque Marker Target
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Solution Overview
Problem
Current endoscopic spine surgery techniques face challenges in achieving precise and minimally invasive access to the operating site due to difficulties in accurately positioning the endoscope, which can lead to trauma and require high surgeon skill levels.
Innovation Solution
A robotic endoscopic system is fixed relative to the patient's bone, using a three-dimensional target with radio-opaque markers for precise alignment, allowing for accurate preoperative planning and intraoperative execution of the endoscope's entry trajectory, minimizing trauma and enhancing precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional endoscopic techniques are used, then the procedure can be performed with basic equipment, but positioning accuracy and precision of instrument control are insufficient
Solution Approach 1:
A robotic arm serves as an intermediary between the surgeon's console and the endoscope, providing precise positioning and control. The robotic arm integrates navigation systems, image guidance, and haptic feedback to achieve accurate instrument placement without requiring the surgeon to directly manipulate the endoscope through tight spaces.
Solution Approach 2:
The patent replaces direct mechanical manipulation of the endoscope with a robotic control system. The robotic arm uses electronic control, image guidance, and computer vision to position instruments with sub-millimeter precision, substituting the surgeon's manual dexterity with an automated positioning system that maintains accuracy while reducing the skill barrier.
2Object-affected harmful factors
If the endoscope is inserted at incorrect position or angle, then access to the operating site is achieved, but trauma to soft tissues increases and correction becomes difficult
Solution Approach 1:
The robotic system performs preliminary planning and simulation before the actual surgery. The surgeon defines the desired insertion trajectory on preoperative imaging, and the robotic arm calculates the optimal path. During surgery, real-time image guidance and navigation continuously verify the insertion path, allowing for immediate correction if deviation occurs, thereby minimizing soft tissue trauma.
Solution Approach 2:
The system incorporates real-time feedback through image guidance systems that display the endoscope's position relative to anatomical structures. Haptic feedback devices provide tactile sensation to the surgeon, and navigation systems continuously monitor the insertion trajectory, allowing for immediate adjustment to maintain precision and avoid damage to critical soft tissues.
3Manufacturing precision
If manual manipulation of instruments is required in limited operating space, then dexterity is needed, but precision of instrument control becomes difficult to achieve
Solution Approach 1:
The robotic arm acts as an intermediary that amplifies the surgeon's commands while filtering out tremors and scaling movements. The system translates broad console movements into precise tip positions through proportional control, making it easier for surgeons to achieve fine precision without requiring years of endoscopic experience.
Solution Approach 2:
Manual dexterity is replaced with electronic control systems that provide precise instrument positioning. The robotic arm uses motor control, image guidance, and computer vision to achieve sub-millimeter precision, substituting the surgeon's manual skills with an automated system that maintains precision while reducing the skill barrier for novices.
4Area of stationary object
If 2D video image is used for guidance, then the operating space is limited, but depth perception and spatial orientation are compromised
Solution Approach 1:
The system transitions from 2D video guidance to 3D visualization by integrating multiple camera views, stereoscopic display, and navigation overlays. This dimensional change provides depth perception and spatial orientation while maintaining access through limited operating spaces, allowing the surgeon to accurately locate and manipulate structures in three-dimensional space.
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 enables accurate and safe insertion of the endoscope, reducing trauma to soft tissues and lowering the required surgeon skill level by providing precise control and alignment, facilitating minimally invasive procedures with high positional accuracy.
Implementation Method 1
The relation of the robot pose co-ordinate system relative to the co-ordinate system of fluoroscope images taken during the procedure (intraoperative), can be determined by using a three dimensional target having radio-opaque markers, whose pose can therefore be determined in the fluoroscope images
Data Source
AI summary
Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.