Robotic Pin Placement for Knee Arthroplasty Alignment
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Solution Overview
Problem
Current cutting guide systems for total knee arthroplasty are complex and time-consuming to align, requiring extensive user training and often result in malalignment due to anatomical variations and the need for precise manual adjustments, which can lead to suboptimal outcomes and increased revision surgery rates.
Innovation Solution
A surgical alignment system using bone pins inserted into virtual planes defined by planning software, with a cutting guide configured to clamp onto these pins, allowing for precise alignment and reduction of manual adjustment burdens through a 2-DOF surgical system with fiducial markers for tracking and real-time adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual adjustment mechanisms are used to align cutting guides, then the cutting guide can be positioned on the bone, but the complexity of the system increases and extensive user training is required
Solution Approach 1:
The patent replaces manual mechanical adjustment mechanisms with a robotic system that uses computer vision and automated control to position the cutting guide. The robotic arm with fiducial markers provides automated alignment without requiring complex manual adjustments, thereby reducing device complexity while maintaining ease of operation.
Solution Approach 2:
The patent uses image-guidance and computer vision to create a virtual model of the bone anatomy, allowing the system to plan and execute cutting guide alignment based on digital copies of the anatomical structures. This eliminates the need for complex physical adjustment mechanisms while maintaining precision.
2Measurement precision
If passive navigation or image-guidance is used to orient cutting guides, then alignment can be achieved, but the surgeon must constantly reference a monitor introducing error and prolonging the procedure
Solution Approach 1:
The robotic system performs self-alignment using automated computer vision and fiducial marker tracking. The system independently calculates and executes the positioning of the cutting guide without requiring the surgeon to constantly reference external monitors, thereby reducing procedure time while maintaining alignment accuracy.
Solution Approach 2:
The system uses real-time feedback from fiducial markers and image-guidance to continuously monitor and adjust the cutting guide position. This closed-loop control ensures accurate alignment while automating the process, eliminating the need for manual monitoring and reducing procedure time.
3Ease of operation
If anatomical landmark referencing is used to align cutting guides, then positioning can be achieved, but anatomical variations cause difficulty in accurate alignment
Solution Approach 1:
The patent changes the reference parameters from anatomical landmarks to fiducial markers with known geometric properties. These artificial markers provide consistent, measurable reference points that are not affected by anatomical variations, thereby maintaining alignment accuracy across different patients while simplifying the positioning process.
Solution Approach 2:
The system creates a digital model of the patient's anatomy and uses fiducial markers as reference points in this virtual model. This allows for precise planning and execution of cutting guide alignment that is independent of anatomical variations, improving both ease of operation and alignment accuracy.
4Measurement precision
If a robotic system with fiducial markers is used for pin insertion, then real-time tracking and alignment can be achieved, but the device complexity increases
Solution Approach 1:
The robotic system with fiducial markers serves multiple functions: it provides real-time tracking of the cutting guide position, enables computer vision-based alignment, and facilitates automated pin insertion. By consolidating these functions into a single system, the patent reduces overall device complexity while maintaining high measurement precision.
Data Source
AI summary
Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.