Robotic Joint Gap Tracking for Knee and Hip Surgery
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Solution Overview
Problem
Existing surgical systems lack precision in measuring and maintaining the instrument gap during knee and hip joint surgeries, which is crucial for safe navigation and instrument maneuvering, especially due to the small size of arthroscopes and harsh environments within joints, and are challenging for both surgeons and robotic systems.
Innovation Solution
A surgical assist system with an image capture apparatus, sensing system, and processing assembly that determines the varying dimension of the joint gap by applying motion stereo procedures and kinematic models, using optical or magnetic tracking, and robotic arms to adjust the joint position for precise surgical access.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot is used to perform surgery, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent introduces an optical tracking system as an intermediary between the robotic system and the surgical site. This separate tracking subsystem measures the positions of surgical instruments and robotic components independently, then provides measurement data to the control system without requiring the robot itself to perform complex measurements, thereby improving measurement precision while managing device complexity through functional separation
Solution Approach 2:
The patent replaces mechanical measurement systems with optical sensing and computer vision technologies. Instead of using mechanical encoders or tactile sensors on the robotic manipulators, the system uses optical markers and cameras to track positions and calculate gap dimensions, substituting complex mechanical measurement mechanisms with lighter optical systems that provide higher precision
2Measurement precision
If optical tracking is used to measure gap distance, then measurement precision is improved, but the system becomes more sensitive to environmental factors
Solution Approach 1:
The patent implements continuous feedback loops where the optical tracking system constantly monitors the positions of surgical instruments and robotic components, and the control system uses this real-time data to compensate for environmental disturbances. The system measures actual positions versus desired positions and makes corrective adjustments, thereby maintaining measurement precision despite environmental factors such as lighting changes or minor vibrations
Solution Approach 2:
The patent employs calibration procedures performed before surgery to establish reference relationships between the optical tracking system and the surgical field. By pre-characterizing the measurement environment and creating transformation matrices during calibration, the system compensates for potential environmental variations before they affect measurements during the actual surgical procedure
3Ease of operation
If a surgeon manually maneuvers instruments, then ease of operation is maintained, but measurement precision deteriorates
Solution Approach 1:
The patent enables the surgical system to perform its own measurements automatically through the optical tracking system and computer vision algorithms. The system self-monitors instrument positions, calculates gap dimensions, and provides measurement feedback without requiring the surgeon to manually measure or estimate distances, thereby maintaining ease of operation while achieving high measurement precision through automated optical measurement
Solution Approach 2:
The patent introduces a computer vision and image processing intermediary that bridges the surgeon's manual manipulation and the measurement function. The system captures images from the surgical camera, processes them to identify anatomical landmarks and instrument positions, and calculates gap measurements automatically, allowing the surgeon to focus on manipulation while the intermediary system handles precise measurement
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
Enhances precision in measuring and maintaining the instrument gap, providing safe and accurate navigation for both human operators and robotic systems, thereby improving the safety and efficiency of surgical procedures.
Implementation Method 1
using optical or magnetic tracking
Implementation Method 2
using optical or magnetic tracking
Data Source
AI summary
Surgical systems and methods for assisting with procedures involving a subject's limb, such as a leg associated with a knee or hip joint. One or more robotic arms move and position the limb to manipulate the joint. The robotic arm(s) can be controlled based on a sensed joint gap or desired joint gap. An arthroscope can capture imagery of the joint and a tracking system can track poses of the arthroscope, the robotic arm(s), and the limb.