Robotic Retraction and Distraction via Pose Tracking
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Solution Overview
Problem
Current robotic systems in surgical procedures lack efficient methods for robotic retraction and distraction, which are crucial for accurately positioning surgical tools relative to patient anatomy, particularly in procedures like total hip arthroplasty, where precise movement and tracking are necessary to avoid tissue damage and ensure effective exposure of anatomical structures.
Innovation Solution
A system comprising a patient tracking element and a processing unit that tracks patient and tool poses, enabling a robotic manipulator to move a trackable surgical tool from a first position to a second position while maintaining engagement with the patient, utilizing optical sensors and tracking elements to guide the tool along a defined trajectory, ensuring precise retraction or distraction without slippage or unintended movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual retraction methods are used, then ease of operation is improved, but manufacturing precision and measurement precision deteriorate
Solution Approach 1:
The patent replaces manual mechanical retraction operations with an automated robotic system that uses optical tracking and computer-controlled manipulators. The robotic system substitutes human manual manipulation with automated mechanical systems guided by localization data, thereby improving measurement precision while maintaining ease of operation through automated control.
Solution Approach 2:
The patent introduces a localization system with trackable elements and optical sensors as an intermediary between the surgeon's intent and the actual retraction operation. This intermediary system provides real-time positional feedback and enables precise measurement of retraction movements, bridging the gap between manual operation and precision measurement.
2Measurement precision
If automated robotic manipulation is implemented, then manufacturing precision and measurement precision are improved, but device complexity increases
Solution Approach 1:
The patent divides the robotic retraction system into distinct modular components: a robotic manipulator system, a localization system with trackable elements, and a control system. Each component performs a specific function and can be independently optimized or replaced, reducing overall system complexity while maintaining high measurement precision.
Solution Approach 2:
The robotic manipulator is designed to perform multiple surgical tasks including retraction, distraction, and positioning of various surgical tools. The localization system can track multiple objects simultaneously. This multi-functionality reduces the need for multiple specialized devices, thereby managing device complexity while providing precise measurement capabilities.
3Reliability
If precise tracking and control are used, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent implements a feedback loop where the localization system continuously tracks the position of the robotic manipulator and surgical tools, and this positional information is fed back to the control system for real-time adjustment. This feedback mechanism ensures reliable and accurate retraction movements while using a manageable level of system complexity through standard control theory applications.
Data Source
AI summary
Systems and methods for robotic retraction or robotic distraction are disclosed such as for a surgical procedure. An example system is a localization system to automatically position a trackable surgical retractor or distraction with respect to a patient comprising a patient tracking element adapted to be coupled to a patient; a processing unit configured to: track the poses of the patient via the patient tracking element, and the trackable surgical retractor or distractor; and command a robotic manipulator to move a tip of the trackable surgical retractor or distractor coupled to the manipulator from a first position, in engagement with the patient, to a second position while remaining in engagement with the patient.