Robotic Soft Tissue Balancing for Quantitative Joint Stability
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Solution Overview
Problem
Conventional soft tissue evaluations in orthopedic surgery, particularly in joint repair or replacement surgeries, lack precision and are often done qualitatively, leading to potential joint instability due to unbalanced soft tissue.
Innovation Solution
A robotic arm system with sensors and a CAS controller is used to perform soft tissue balancing by applying controlled forces to bones, measuring tension, and determining the required rotation for balance, assisted by a tracking system and force-torque sensors to ensure accurate soft tissue balancing during surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional hand-based soft tissue evaluation is used, then the surgical process is simple and quick, but the measurement precision and reliability are insufficient leading to potential joint instability
Solution Approach 1:
The patent replaces the conventional mechanical hand-based evaluation system with a robotic arm system equipped with force-torque sensors. The robotic arm applies controlled mechanical forces to the bone while sensors quantitatively measure soft tissue tension, substituting subjective manual assessment with objective instrumented measurement. This resolves the contradiction by providing precise measurement (improving_feature) while accepting increased system complexity (worsening_feature) as a necessary trade-off for accuracy.
Solution Approach 2:
The patent introduces a robotic arm as an intermediary device between the surgeon and the soft tissue evaluation process. The robotic arm serves as a mediator that applies controlled forces and transmits measurement data, enabling precise quantitative assessment without requiring the surgeon to directly manipulate tissues. This intermediary system resolves the contradiction by providing measurement precision through instrumentation while maintaining surgical workflow through automated data collection and analysis.
2Reliability
If qualitative assessment by hand is used, then the device complexity is low, but the reliability of soft tissue balancing is insufficient
Solution Approach 1:
The patent implements a feedback mechanism where force-torque sensors continuously measure soft tissue tension during robotic arm manipulation. The system provides real-time quantitative feedback on tissue balance, allowing the surgeon to adjust bone resections or implant positioning to achieve optimal soft tissue equilibrium. This feedback loop resolves the contradiction by ensuring reliable joint stability (improving_feature) through automated measurement and adjustment guidance, despite the increased device complexity (worsening_feature).
Solution Approach 2:
The patent replaces unreliable qualitative manual assessment with a robotic system that applies controlled mechanical forces and measures tissue response with force-torque sensors. This substitution transforms subjective sensation into objective quantitative data, significantly improving the reliability of soft tissue balancing and joint stability predictions, while accepting the necessary increase in system complexity.
3Manufacturing precision
If conventional manual evaluation is used, then the ease of operation is high, but the manufacturing precision of implant placement is compromised
Solution Approach 1:
The patent replaces manual soft tissue evaluation with a robotic arm system that quantitatively measures tissue tension and provides data-driven guidance for implant placement. The robotic system calculates optimal implant positioning based on measured soft tissue balance, improving manufacturing precision (improving_feature) while reducing reliance on surgeon experience and manual assessment skills. The increased ease of operation (improving_feature) comes from automated measurement and calculation, despite the complexity of the robotic system itself.
Solution Approach 2:
The patent uses real-time feedback from force-torque sensors to guide implant placement decisions. The system continuously monitors soft tissue tension during the procedure and provides quantitative feedback on how bone resections affect tissue balance, enabling precise adjustment of implant positioning. This feedback mechanism improves manufacturing precision by ensuring implants are placed at optimal locations for soft tissue balance, while simplifying the decision-making process for the surgeon.
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 provides precise soft tissue balancing, reducing the risk of joint instability by quantitatively assessing and adjusting soft tissue tension, enabling more accurate implant placement and reducing errors in orthopedic surgeries.
Implementation Method 1
A robotic arm system with sensors and a CAS controller is used to perform soft tissue balancing by applying controlled forces to bones, measuring tension
Data Source
AI summary
Systems and methods may be used to perform robot-aided surgery. A system may include a robotic controller to monitor a position and orientation of an end effector coupled to an end of a robotic arm. The robotic controller may apply a force to a bone using the end effector, such as via a soft tissue balancing component. The robotic controller may determine soft tissue balance using information from a tracking system, such as a position of a first tracker affixed to the bone. The soft tissue balance may be output, such as to a display device.