Robotic Acetabular Reaming and Shell Placement With Pose-Guided Control
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Solution Overview
Problem
Current robotic and navigation-assisted surgical approaches for bone preparation, trialing, and implant placement in total hip arthroplasty procedures face shortcomings in accuracy and efficiency.
Innovation Solution
A surgical robot system with a robotic arm, end effector, camera tracking system, and computer platform that provides controlled navigation and guidance for reaming and implant placement, allowing for various operational modes such as force, rotate, translate, and translate/rotate control to ensure precise alignment and positioning of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic systems are used for bone preparation and implant placement, then manufacturing precision and reliability are improved, but device complexity increases
Solution Approach 1:
The robotic system is divided into separate functional modules: a robotic arm for positioning, an end effector for instrument holding, a camera tracking system for navigation, and a computer platform for control. This segmentation allows each component to be optimized independently while working together to achieve precise bone preparation and implant placement.
Solution Approach 2:
A camera tracking system serves as an intermediary between the robotic arm and the surgical site, providing real-time position and orientation data. This intermediary enables precise control without requiring direct mechanical coupling between all components, reducing overall system complexity while maintaining accuracy.
2Adaptability or versatility
If multiple operational modes (force, rotate, translate, translate/rotate control) are provided, then adaptability is improved, but device complexity increases
Solution Approach 1:
The control system dynamically adjusts the degree of freedom based on the selected operational mode. In force control mode, the surgeon has full manual control; in rotate control mode, rotation is constrained while translation is enabled; in translate control mode, translation is constrained while rotation is enabled. This dynamic adaptation provides versatility without requiring all modes to be simultaneously active, managing complexity through conditional functionality.
3Manufacturing precision
If real-time navigational guidance is provided, then manufacturing precision is improved, but loss of time increases
Solution Approach 1:
The system performs preliminary registration of the patient's anatomy and preoperative planning before the actual surgical procedure. The camera tracking system is calibrated and the robotic arm is positioned in advance, so that during the surgery, real-time navigation provides only minimal additional time while ensuring precise implant positioning through continuous guidance.
Data Source
AI summary
A system for robot-assisted surgery includes a surgical robot having a robotic arm, an end effector coupled to the robotic arm, wherein the end effector is adapted to receive, translate, and orient a navigated surgical instrument; a camera tracking system adapted to intra-operatively track a pose of the navigated surgical instrument relative to a defined coordinate system; and a computer platform including a processor and a memory. In embodiments, the computer platform operative to display to a user an image of a target location on the patient and the pose of the navigated surgical instrument; and selectively control translation and orientation of the navigated surgical instrument based on a defined operational mode, to perform a surgical process under user control that comprises one or more of: reaming an acetabulum of the patient to a planned center of an acetabular prosthesis, or positioning the acetabular prosthesis in the reamed acetabulum.