Robotic Hip Cup Positioning via Fluoroscopic Imaging
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Solution Overview
Problem
Robotic surgery systems for total hip arthroplasty face challenges with acetabular cup positioning due to reliance on optical navigation systems, which can be cumbersome and costly, and often require additional imaging, leading to potential malpositioning issues and increased operating times.
Innovation Solution
A robotic surgical system that uses fluoroscopic images to determine the orientation of the impaction instrument and position the acetabular cup without external optical navigation, allowing for precise alignment and impaction of cup-shaped implants through a combination of pre-operative planning, intra-operative imaging, and robotic registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical navigation systems are used for robotic-assisted hip arthroplasty, then implant positioning guidance is provided, but device complexity and operating room space requirements increase
Solution Approach 1:
The patent extracts and eliminates the optical navigation system from the robotic-assisted hip arthroplasty procedure. Instead of using complex optical navigation equipment, the system relies on pre-operative imaging (CT or MRI scans) combined with fluoroscopic verification to achieve accurate implant positioning, thereby removing unnecessary device complexity while maintaining measurement precision
Solution Approach 2:
The system creates a virtual copy of the patient's anatomy from pre-operative imaging data to plan the surgery. This virtual model allows for precise implant positioning to be determined and transferred to the actual surgery using fluoroscopic guidance, eliminating the need for physical optical navigation systems in the operating room
2Measurement precision
If optical navigation systems are used for acetabular cup positioning, then orientation guidance is provided, but additional equipment space and sight line limitations are introduced
Solution Approach 1:
The patent removes the optical navigation system and its associated space requirements from the operating room. The system achieves cup orientation accuracy through pre-operative planning based on imaging data and intra-operative fluoroscopic verification, eliminating the need for large navigation equipment and maintaining clear sight lines for the surgical team
3Measurement precision
If optical navigation systems are used for implant positioning, then positioning guidance is provided, but intra-operative imaging requirements increase operating time
Solution Approach 1:
The system performs all complex positioning calculations and implant orientation planning before surgery using pre-operative CT or MRI scans. This preliminary action allows the surgeon to simply follow the pre-determined plan during surgery with fluoroscopic verification, significantly reducing operating time compared to real-time optical navigation while maintaining positioning accuracy
4Ease of operation
If manual techniques are used for acetabular cup impaction, then surgical flexibility is maintained, but positioning accuracy decreases leading to malpositioning issues
Solution Approach 1:
The system incorporates fluoroscopic imaging feedback to verify that the acetabular cup is positioned according to the pre-operative plan during impaction. This feedback mechanism ensures positioning accuracy while maintaining surgical flexibility, as the surgeon can observe the actual cup orientation in real-time and make adjustments if needed, combining the benefits of both manual technique and precision guidance
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
This approach enhances the accuracy of acetabular cup placement, reduces reliance on manual technique, minimizes the need for additional navigation systems, and shortens operating times by enabling precise orientation and impaction of cup-shaped implants, such as the acetabular shell, while maintaining alignment and anteversion angles.
Implementation Method 1
The robotic surgical system uses fluoroscopic images to determine the orientation of the impaction instrument in relation to patient anatomy and as a guide for acetabular component orientation
Data Source
AI summary
Techniques for robotically guiding a cup-shaped implant or instrument are provided. In an example, the technique can include a combination of the following operations. Acquiring a calibration image including a cup-shaped element in a first orientation. Identifying a first elliptical outline of the cup-shaped element. Acquiring a navigation image including the cup-shaped element in a second orientation. Identifying a second elliptical outline of the cup-shaped element. Aligning a coordinate system of a robotic system to a patient, and positioning an implant or instrument based on a pre-operative plan within the coordinate system.