Robotic Spinal Screw-Rod Alignment With Force-Limited Manipulation
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Solution Overview
Problem
Existing spinal surgeries require manual manipulation of vertebral screws and rods, which can lead to broken fixation points, under/over correction, and lengthy procedures, necessitating high proficiency and significant exertion.
Innovation Solution
A robotic system with multiple arms and sensors that register patient and robotic coordinate spaces, measure forces, and manipulate vertebral screws and rods to achieve precise alignment, ensuring forces do not exceed safe thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual manipulation of vertebral screws and rods is used, then surgical flexibility and adaptability are maintained, but procedure time increases and risk of breakage increases
Solution Approach 1:
The patent replaces manual mechanical manipulation with a robotic system that uses sensors, actuators, and computer control to manipulate vertebral screws and rods. The robotic arm with force sensors and torque control eliminates manual exertion while maintaining precise control over surgical instruments, thereby reducing procedure time and minimizing breakage risk through consistent, programmable movements.
Solution Approach 2:
The robotic system incorporates force sensors and torque monitoring that automatically detect and respond to excessive forces during screw-rod engagement. The system self-regulates by comparing real-time force measurements against predetermined thresholds and adjusting actuation accordingly, eliminating the need for constant manual monitoring while ensuring safe operation.
2Measurement precision
If manual manipulation is used, then real-time surgical adjustment is possible, but measurement precision and alignment accuracy decrease
Solution Approach 1:
The robotic system incorporates force sensors that provide real-time feedback on forces applied during screw-rod engagement. The control system continuously monitors force measurements and compares them against predetermined thresholds, automatically adjusting actuation to maintain forces within safe limits. This closed-loop feedback ensures precise alignment while maintaining surgical flexibility through programmable parameters.
Solution Approach 2:
The robotic system allows dynamic adjustment of surgical parameters through programmable control. Pre-determined force thresholds and engagement criteria can be modified based on patient-specific anatomy and surgical requirements, enabling real-time adaptation while maintaining measurement precision through sensor feedback and controlled actuation.
3Extent of automation
If high proficiency manual manipulation is required, then surgical control is maintained, but device complexity and training requirements increase
Solution Approach 1:
The robotic system acts as an intermediary between the surgeon's intent and the physical manipulation of surgical instruments. The control system translates high-level surgical commands into precise robotic movements, using force sensors and torque control to mediate the interaction between the robotic arm and vertebral implants. This intermediary layer automates complex manipulation tasks while maintaining surgical control through programmable parameters.
Solution Approach 2:
The robotic system integrates multiple functions including force sensing, torque control, position verification, and automated screw-rod engagement within a single platform. The force sensors serve dual purposes of both measurement and control, while the robotic arm can perform multiple surgical tasks through programmable sequences, reducing overall system complexity despite high automation extent.
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.