Robotic Screw Trajectory Planning for CT-Guided Bone Surgery
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Solution Overview
Problem
Conventional surgical procedures for drilling precise holes in complex bone structures, such as vertebrae, are tedious and dependent on the surgeon's dexterity, leading to potential human and robotic errors, and require improved localization accuracy for optimized treatment.
Innovation Solution
A robotic surgical platform with a surgical implant planning computer that utilizes CT or fluoroscopic imaging to accurately position surgical tools, enabling precise localization and trajectory planning through a robotic arm, supported by dynamic reference bases and marker tracking cameras.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of drill guide tube by surgeon is used, then surgeon's dexterity determines positioning accuracy, but the process is tedious and time consuming with potential for human error
Solution Approach 1:
The patent replaces the manual mechanical positioning system with an automated robotic system. The robotic arm, controlled by a computer system using CT or fluoroscopic imaging data, automatically positions the drill guide tube according to pre-calculated trajectories, eliminating the need for manual positioning by the surgeon and significantly reducing surgical time while maintaining high precision.
Solution Approach 2:
The system performs preliminary planning and trajectory calculation before the actual drilling operation. CT or fluoroscopic images are acquired and processed pre-operatively or intra-operatively to determine optimal drill paths, and the robotic system executes these pre-planned trajectories, avoiding time-consuming intraoperative decision-making and positioning adjustments.
2Reliability
If manual positioning by surgeon is used, then human error may occur, but robotic automation can reduce error
Solution Approach 1:
The manual mechanical positioning system is replaced with an automated robotic system that uses computer-controlled movements based on imaging data. This substitution eliminates human error in positioning while the integrated computer system manages the complexity of trajectory calculation and robotic control, presenting a simplified user interface to the surgeon.
Solution Approach 2:
The system incorporates feedback mechanisms where the robotic system continuously monitors its position and the patient's anatomy using integrated imaging (CT or fluoroscopy). This real-time feedback allows the system to adjust for any deviations and maintain high surgical accuracy, with the computer processing and correcting positioning errors automatically.
3Measurement precision
If precise localization is achieved through manual method, then high dexterity is required, but robotic system can provide consistent precision
Solution Approach 1:
The complex manual mechanical positioning task requiring high surgeon dexterity is replaced with an automated robotic system. The robot executes precise three-dimensional positioning based on pre-calculated trajectories from imaging data, providing consistent precision without requiring exceptional manual skill from the surgeon, thereby simplifying the operational requirements.
Solution Approach 2:
The robotic system performs self-positioning and self-alignment according to pre-programmed trajectories derived from imaging data. The system autonomously calculates and executes the precise movements needed to position surgical instruments accurately, reducing the operational burden on the surgeon while maintaining high localization precision.
Data Source
AI summary
A surgical implant planning computer for intra-operative CT workflow, pre-operative CT imaging workflow, and fluoroscopic imaging workflow. A network interface is connectable to a CT image scanner and a robot surgical platform having a robot base coupled to a robot arm that is movable by motors. A CT image of a bone is received from the CT image scanner and displayed. A user's selection is received of a surgical screw from among a set of defined surgical screws. A graphical screw representing the selected surgical screw is displayed as an overlay on the CT image of the bone. Angular orientation and location of the displayed graphical screw relative to the bone in the CT image is controlled responsive to receipt of user inputs. An indication of the selected surgical screw and an angular orientation and a location of the displayed graphical screw are stored in a surgical plan data structure.