Spinal Rod Bending Instructions From Robotic Implant Pose Capture
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Solution Overview
Problem
Designing and implanting spinal rod fixation systems in orthopedic surgery is challenging due to the need for precise orientation in six degrees of freedom, varying anatomical structures, and differing attachment points, making it difficult to achieve the desired spatial relationship between vertebrae.
Innovation Solution
A method for robotic-assisted surgery that involves capturing poses of surgical tools at a surgical site, determining implant positions, and generating bend curves for linking devices to attach to pedicle screws, using imaging systems and robotic devices to ensure precise placement and bending instructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual methods are used for spinal rod placement, then surgeon flexibility and adaptability are maintained, but placement precision and consistency deteriorate
Solution Approach 1:
A robotic device acts as an intermediary between the surgeon's intent and the actual implant placement. The robotic system includes a robotic arm with a surgical tool that can be guided to precise positions based on pre-planned trajectories, while still allowing surgeon control and adjustment during the procedure.
Solution Approach 2:
The patent replaces manual mechanical manipulation with a robotic mechanical system. The robotic arm uses controlled mechanical movements to position the surgical tool with high precision, substituting the surgeon's manual dexterity with automated robotic mechanics that can achieve more consistent precision.
2Manufacturing precision
If custom bending is performed for each patient's anatomy, then alignment accuracy is improved, but manufacturing complexity and time increase
Solution Approach 1:
The surgical plan including rod bending parameters is prepared in advance before the actual surgery. The system captures the patient's anatomy and calculates the required rod bends preoperatively, so that during surgery, the robotic device can directly execute the pre-determined bending instructions without time-consuming calculations or manual measurements.
Solution Approach 2:
The system dynamically adjusts rod bending parameters based on captured anatomical data. The robotic device can modify bend angles, positions, and orientations by changing control parameters, allowing precise customization for each patient's unique anatomy without manual trial-and-error adjustments.
3Reliability
If multiple vertebrae are instrumented to treat spinal conditions, then treatment effectiveness is improved, but surgical complexity and implant configuration difficulty increase
Solution Approach 1:
The robotic surgical system is designed to handle multiple vertebrae instrumentation through a unified platform. The same robotic arm and surgical tools can perform drilling, implant placement, and rod attachment across multiple vertebral levels, providing a universal solution that reduces the complexity of managing multiple different procedures.
Solution Approach 2:
The system incorporates real-time feedback mechanisms to monitor implant positions and adjust subsequent steps accordingly. Sensors and imaging systems provide feedback on the actual placement of screws and rods, allowing the surgeon to verify accuracy and make corrections, thereby ensuring reliable fixation across multiple vertebrae.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and customized placement of spinal rods by generating bend curves based on captured poses, addressing the complexity of spinal rod fixation systems and ensuring accurate alignment of vertebrae.
Implementation Method 1
capturing, via an imaging system, a plurality of poses of a surgical tool coupled to a robotic device at a surgical site based on infrared signals associated with at least one of the robotic device or the surgical tool coupled to the robotic device
Data Source
AI summary
A method for robotic assisted surgery. The method includes capturing a plurality of poses of a surgical tool coupled to a robotic device at a surgical site. The plurality of poses correspond to instances of a final placement of surgical implants at the surgical site. The method also includes determining a plurality of positions of the surgical implants located at the surgical site based on the captured plurality of poses. The method also includes generating a bend curve having a plurality of bend points based on the determined plurality of positions of the surgical implants. The method also includes generating bending instructions for bends to be performed on a linking device configured for attachment to the surgical implants.