Robotic Screw Guidance With Real-Time Trajectory Correction
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Solution Overview
Problem
Current robotic surgical systems are expensive, require extensive preparation, can be physically intrusive, non-intuitive, and vulnerable to malfunction or operator error, particularly in spinal surgeries where precision is critical, such as screw placement, which often relies on manual techniques and is prone to misplacement due to limited access and registration inaccuracy.
Innovation Solution
A robotic surgical system with a force and/or torque control end-effector, actuator, tracking detector, and processor that maintains a surgical instrument along a pre-planned trajectory, allowing real-time alignment and automatic adjustment based on sensor data and AI, integrating with existing instruments and methods for precise screw placement and minimizing skiving errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual screw placement methods are used relying on surgeon expertise and fluoroscopy, then flexibility and ease of operation are maintained, but surgical precision and reliability deteriorate due to operator variability and registration inaccuracies
Solution Approach 1:
The patent introduces a robotic system as an intermediary between the surgeon's intent and the actual screw placement action. The robotic arm with force control end-effector acts as a mediator that translates surgical planning into precise physical execution, eliminating the variability of manual manipulation while maintaining surgeon control through a intuitive interface.
Solution Approach 2:
The patent replaces the manual mechanical manipulation system with an automated robotic mechanical system. The force and torque control end-effector substitutes for the surgeon's hand, providing consistent, precise, and repeatable mechanical actions for drill trajectory execution and screw placement, thereby improving precision while reducing operator fatigue and variability.
2Manufacturing precision
If robotic systems are introduced to improve surgical precision, then manufacturing precision and reliability improve, but device complexity and cost increase
Solution Approach 1:
The robotic system is designed with universal applicability across different spinal surgical procedures and patient anatomies. The force control end-effector can accommodate multiple surgical tools and perform various functions including drilling, screw placement, and trajectory verification, reducing the need for multiple specialized systems and justifying the complexity through multi-functional capability.
Solution Approach 2:
The system incorporates real-time feedback mechanisms including tracking detectors that monitor the position of surgical tools and the robotic arm itself. This feedback loop allows the control system to continuously adjust and maintain precision, making the complexity necessary for achieving and sustaining high surgical accuracy through closed-loop control.
3Measurement precision
If extensive preoperative planning is performed to achieve precise screw placement, then surgical precision improves, but preparation time and loss of time increase
Solution Approach 1:
The system performs comprehensive surgical planning and trajectory calculation in advance during the preoperative phase. The robotic arm is pre-programmed with the optimal drill trajectories and screw placement parameters before entering the operating room, eliminating the need for time-consuming intraoperative adjustments and allowing the surgical team to proceed directly to execution.
Solution Approach 2:
The system creates a virtual 3D model and digital replica of the patient's anatomy based on preoperative imaging data. This virtual copy allows for extensive planning, simulation, and trajectory optimization in the digital domain before physical surgery, transferring the planned trajectories directly to the robotic system without requiring time-consuming manual measurements or intraoperative planning.
4Manufacturing precision
If robotic arms are positioned close to the surgical site for precision, then surgical precision improves, but field of view and ease of operation deteriorate due to physical intrusiveness
Solution Approach 1:
The robotic system is designed with a nested configuration where the force control end-effector with surgical tools is integrated within or alongside the robotic arm structure. This nesting allows the surgical instruments to be positioned precisely at the target site while the bulk of the robotic mechanism remains positioned away from the surgical field, maintaining both precision and visibility.
Solution Approach 2:
The robotic system is divided into separate functional segments: the main robotic arm positioned away from the surgical site for stability and access, and a smaller force control end-effector that interfaces directly with the surgical field. This segmentation allows the precision-critical components to be close to the target while the larger mechanism remains out of the way, preserving the surgeon's field of view and access.
Data Source
AI summary
A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.