Robotic Spinal Rod Alignment Under Force-Limited Screw Manipulation
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Solution Overview
Problem
Existing spinal surgeries require manual manipulation of anchoring points, which can lead to broken fixation points, under/over correction, and are time-consuming, requiring significant exertion and expertise.
Innovation Solution
A robotic system with multiple arms that measures forces and tracks spine pose to securely manipulate vertebral screws or hooks onto a fixation rod, ensuring alignment without exceeding a predetermined force threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual manipulation of anchoring points is used, then surgeon expertise and control are required, but the procedure is time-consuming and carries risk of broken fixation points
Solution Approach 1:
The robotic system autonomously manipulates anchoring points without requiring continuous surgeon intervention. The system self-regulates forces, tracks spine pose, and executes manipulation tasks independently, reducing procedure time while maintaining fixation point integrity through controlled force application
Solution Approach 2:
The patent replaces manual mechanical manipulation by surgeons with an automated robotic system. The robotic manipulator uses force sensors and control algorithms to substitute human hands, eliminating the time-consuming nature of manual procedures while preventing broken fixation points through precise force threshold control
2Ease of operation
If manual manipulation with significant exertion is used, then surgeon control is maintained, but the risk of broken fixation points increases
Solution Approach 1:
The robotic system incorporates force sensors that continuously monitor manipulation forces and provide feedback to the control system. This feedback mechanism allows the system to adjust forces in real-time, maintaining ease of operation through intuitive control while preventing forces that could cause broken fixation points
Solution Approach 2:
The system establishes predetermined force thresholds before manipulation begins. These thresholds act as protective limits that prevent excessive forces from being applied to anchoring points, cushioning against potential damage while maintaining surgical control
3Adaptability or versatility
If manual manipulation requiring significant expertise is used, then surgeon judgment is applied, but precision in spinal alignment may be compromised
Solution Approach 1:
The robotic system replaces manual manipulation with automated precision control. The system uses force sensors, pose tracking, and control algorithms to achieve superior alignment precision that exceeds manual capabilities, while maintaining adaptability through programmable control strategies
Solution Approach 2:
The system creates a digital model of the patient's spine anatomy and uses this copy to plan and execute precise manipulation paths. This virtual model allows the system to simulate and optimize alignment procedures before physical execution, ensuring high precision while maintaining surgical judgment through programmable decision-making
Data Source
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AI summary
A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.