Robotic Surgical Instrument Holder for Precise Bone Removal

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Solution Overview

Problem

Spinal surgeries, such as laminotomy, are lengthy and laborious, posing risks of damaging spinal dura mater and causing repetitive motion disorders for surgeons due to manual removal of lamina, which requires precise and repetitive movements.

Innovation Solution

A robotic surgical system with a surgical instrument holder and navigation system for precise removal of target volumes, using a tubular structure with a longitudinal notch to constrain instrument movement, integrated with a force sensor and navigation marker for real-time tracking and power transmission, allowing rapid instrument exchange and reducing surgeon fatigue.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If manual removal of lamina is performed using surgical pliers and high-speed burr, then the surgeon can remove bony tissue, but the surgery becomes lengthy and laborious taking around 20 minutes per vertebra

Engineering Contradiction:

Improvesurgery speedVSAvoidsurgery time

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The patent replaces manual mechanical removal with a robotic system that uses image guidance and automated control to perform lamina removal. The robotic system integrates navigation technology and automated surgical instruments to eliminate repetitive manual movements, thereby reducing surgery time and surgeon fatigue while maintaining precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robotic system performs self-positioning and self-guidance through integrated navigation markers and real-time tracking. The system automatically adjusts instrument positions and removes tissue based on pre-planned trajectories, reducing the need for continuous manual adjustment and monitoring by the surgeon.

Inventive Principle:

Principle #25Self-service

2Ease of manufacture

If manual removal of lamina is performed with repetitive movements, then the lamina can be removed, but the surgeon may develop repetitive motion disorders

Engineering Contradiction:

Improveease of operationVSAvoidsurgeon fatigue and repetitive motion disorders

Core Design Contradiction:

Ease of manufactureVSObject-affected harmful factors

Solution Approach 1:

The robotic system replaces the surgeon's hands and repetitive manual movements with automated robotic actuators. The robot performs the tedious repetitive motions of tissue removal while the surgeon supervises through a console, thereby eliminating physical fatigue and repetitive strain injuries.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robotic system acts as an intermediary between the surgeon's intent and the actual tissue removal. The surgeon plans the procedure and provides high-level commands, while the robotic system executes the detailed repetitive movements, shielding the surgeon from physical strain.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Reliability

If manual removal of lamina is performed, then the surgeon can decompress the spinal cord, but there is a risk of damaging spinal dura mater

Engineering Contradiction:

Improvesurgical safetyVSAvoiddamage to spinal dura mater

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The robotic system incorporates real-time image guidance and navigation feedback that continuously monitors instrument position relative to critical structures like the spinal dura mater. The system provides visual and haptic feedback to alert the surgeon if the instrument approaches unsafe zones, preventing accidental damage.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The robotic system performs pre-operative planning and creates a virtual surgical model that identifies safe trajectories and zones. Before actual tissue removal, the system pre-maps the anatomy and establishes safety boundaries, allowing the surgeon to proceed with confidence knowing potential hazards have been identified and avoided.

Inventive Principle:

Principle #10Preliminary action

4Manufacturing precision

If precise and repetitive movements are required for lamina removal, then accurate tissue removal can be achieved, but the process becomes tiring and time-consuming

Engineering Contradiction:

Improveprecision of tissue removalVSAvoidsurgery efficiency

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The robotic system replaces manual precision movements with computer-controlled robotic actuators that can maintain sub-millimeter accuracy over extended periods without fatigue. The robotic system executes pre-planned precise trajectories automatically, maintaining surgical precision while eliminating the time loss associated with manual repositioning and adjustment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20250281248A1Robot assisted volume removal during surgery

Publication Date: 2025.09.11 KB MEDICAL SA

AI summary

Described herein is a device and method used to effectively remove volume inside a patient in various types of surgeries, such as spinal surgeries (e.g. laminotomy), neurosurgeries (various types of craniotomy), ENT surgeries (e.g. tumor removal), and orthopedic surgeries (bone removal). Robotic assistance linked with a navigation system and medical imaging it can shorten surgery time, make the surgery safer and free surgeon from doing repetitive and laborious tasks. In certain embodiments, the disclosed technology includes a surgical instrument holder for use with a robotic surgical system. In certain embodiments, the surgical instrument holder is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise removal of a target volume in a patient.