Robotic Surgical Imaging With Fiducial Point Alignment
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Solution Overview
Problem
Current surgical systems face challenges in providing high-resolution real-time imaging during robotically-assisted surgery, particularly in spinal fusion procedures, due to limitations in tactile feedback and visualization, and difficulties in aligning surgical rods with pedicle screws, leading to prolonged surgery times and potential complications.
Innovation Solution
A robotic surgical system equipped with a multi-axis robot and ultrasound imaging, utilizing fiducial points for real-time image alignment and tool path adjustments, enabling high-resolution image overlay and precise robot control through computer programming and tactile feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotically-assisted surgery is used to improve surgical precision, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent introduces a computer as an intermediary component that coordinates between the surgeon's commands and the robotic system's complex movements. The computer processes surgical plans, translates them into robotic motion commands, and integrates imaging data, thereby managing the system's complexity while maintaining high precision.
Solution Approach 2:
The patent replaces direct manual mechanical manipulation with computer-controlled robotic manipulation. The robotic system uses computer programming to control multi-axis movements and tool paths, substituting complex mechanical coordination with software-based control to achieve precise surgical outcomes.
2Measurement precision
If real-time imaging is implemented to improve visualization, then measurement precision is improved, but use of energy increases
Solution Approach 1:
The patent implements periodic imaging rather than continuous imaging, capturing images at specific intervals or trigger points during the surgical procedure. This approach provides necessary real-time visualization feedback while significantly reducing energy consumption compared to continuous imaging modes.
Solution Approach 2:
The imaging system is integrated into the robotic surgical system itself, allowing the robot to perform both surgical manipulation and imaging functions. This self-service capability eliminates the need for separate imaging equipment, optimizing energy usage by coordinating imaging only when surgically relevant.
3Measurement precision
If fiducial points are used for image alignment to improve measurement precision, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses fiducial points as simplified copies or markers that represent complex anatomical structures. These markers are easily detectable by the imaging system and provide reference points for aligning pre-operative images with intra-operative anatomy, achieving precise measurement without requiring complex direct anatomical tracking.
Solution Approach 2:
The system transforms the complex problem of anatomical structure alignment into a simpler parameter-based problem by using fiducial points with known coordinates. The computer calculates transformations based on these point parameters, converting complex spatial alignment into manageable mathematical parameter adjustments.
4Object-affected harmful factors
If surgeons work in narrow surgical fields to minimize incision size, then object-affected harmful factors are reduced, but ease of operation deteriorates
Solution Approach 1:
The patent replaces manual surgical manipulation with robotic manipulation for tasks requiring precision in narrow fields. The robotic system can position tools with sub-millimeter accuracy in confined spaces that would be difficult to access manually, maintaining minimal incisions while improving ease of operation through computer-controlled precision.
Solution Approach 2:
The robotic surgical system divides the surgical task into discrete, programmable segments or tool paths. Each surgical action is broken down into precise robotic movements that can be individually controlled and optimized, making complex maneuvers in narrow fields more manageable and easier to execute with high precision.
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
Enables real-time high-resolution imaging and precise surgical tool manipulation, reducing surgery time and minimizing complications by aligning surgical tools with patient anatomy, enhancing surgical precision and safety.
Implementation Method 1
an ultrasound probe to capture an ultrasound image
Data Source
AI summary
A surgical system and method are provided that is configured to effect substituting a high resolution image created pre-surgery for a lower resolution image created in real time during surgery and simulating the real time position of the surgical site.