Robotic Surgery System with Integrated C-Arm Imaging

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Solution Overview

Problem

Conventional fluoroscopy and radiography systems for intraoperative imaging during surgical procedures, such as joint resurfacing or replacement, are cumbersome and require frequent repositioning, disrupting surgical workflow and requiring re-registration of imaging and interventional systems relative to patient anatomy.

Innovation Solution

A robotic surgery system with a mobile base that can be moved into or out of the operating room and a fluoroscopic imaging system with a first and second moveable support structure, allowing for precise repositioning of imaging elements relative to the patient tissue structure, while maintaining registration with surgical instruments and patient anatomy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If conventional fluoroscopy C-arm system or flat-panel radiography system is used for intraoperative imaging, then imaging capability is provided, but the hardware configuration is large and unwieldly requiring frequent repositioning and reorientation

Engineering Contradiction:

Improveimaging operationVSAvoidhardware configuration

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent combines the fluoroscopy imaging system with the robotic surgical system by mounting the C-arm imaging system on the robotic base. This integration merges two previously separate systems (imaging and surgical intervention) into a single unified platform, eliminating the need for separate repositioning operations and reducing overall system complexity in the operating room.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robotic base serves multiple functions: it supports the surgical robotic arm for intervention and simultaneously supports the fluoroscopy C-arm for imaging. This multi-functional design allows the single platform to perform both surgical and imaging tasks, reducing the need for additional dedicated equipment and simplifying operational workflows.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If imaging hardware is moved manually or electromechanically to capture additional images, then multiple viewpoints are obtained, but surgical workflow is disrupted

Engineering Contradiction:

Improveimaging viewpointVSAvoidsurgical workflow

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The integrated system allows surgical intervention and imaging to occur simultaneously without interruption. The robotic base maintains continuous positioning of both the surgical arm and imaging C-arm, enabling uninterrupted surgical workflow while continuously providing imaging capability from multiple viewpoints as needed.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The system dynamically adjusts the positioning of the C-arm imaging system relative to the surgical field. The robotic base can electromechanically reposition the C-arm to capture additional images from different viewpoints while maintaining coordination with the surgical instrument positions, allowing adaptive imaging without workflow disruption.

Inventive Principle:

Principle #15Dynamics

3Ease of operation

If interventional system and imaging system are traded in and out of the space adjacent to patient tissue structures, then access to tissue structures is maintained, but re-registration of systems relative to patient anatomy is required

Engineering Contradiction:

Improvetissue accessVSAvoidsystem registration

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

By mounting the imaging C-arm on the same robotic base that positions the surgical instrument, the system eliminates the need for separate re-registration operations. The integrated platform maintains a fixed geometric relationship between imaging and intervention components, preserving registration accuracy while allowing both functions to operate simultaneously in the surgical field.

Inventive Principle:

Principle #5Merging (Combining)

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

This system enables efficient and precise intraoperative imaging, allowing for simultaneous surgical intervention and imaging, thereby improving surgical workflow and reducing the need for frequent repositioning and re-registration of equipment.

Implementation Method 1

a mobile base configured to be moveable into and out of an operating room when in a freewheeling mode, and fixed relative to the operating room when in a braked mode

Methodology Applied

Scientific EffectFriction: Friction

Implementation Method 2

a first element of a fluoroscopic imaging system... The first element includes one of a source element and a detector element

Methodology Applied

Scientific EffectX-Ray: X-Ray

Data Source

PatentUS20250152272A1Integrated robotic surgery system

Publication Date: 2025.05.15 MAKO SURGICAL CORP

AI summary

A method includes positioning an imaging element relative to a patient tissue structure, establishing, by moving a robotic arm, registration between the imaging element and a surgical instrument held by the robotic arm, and conducting, using the surgical instrument, an intervention on the patient tissue structure while calculating an orientation of the surgical instrument relative to the patient tissue structure using the registration.