Robotic Surgical System with AR Headset for Path Tracking
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Solution Overview
Problem
In robotic surgery, surgeons must simultaneously focus on both the patient and a screen displaying preoperative and intraoperative images, leading to potential deviations from pre-planned surgical paths and increased risk of damaging surrounding tissues.
Innovation Solution
A robotic surgical system that automatically controls a robotic arm to follow a pre-planned surgical path, using a wearable device to present an augmented reality image of a 3D patient model, allowing the surgeon to monitor the procedure without needing to look away from the patient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the surgeon focuses on the screen displaying preoperative and intraoperative images, then the surgical path can be monitored, but the surgeon cannot simultaneously focus on the patient, leading to potential deviations from the pre-planned surgical path
Solution Approach 1:
The patent introduces an augmented reality (AR) headset as an intermediary device that overlays surgical guidance information directly into the surgeon's field of view. The AR headset receives image data from the surgical site, processes it to generate guidance overlays showing the pre-planned surgical path and real-time instrument position, and displays this information through transparent displays in the surgeon's vision path. This allows the surgeon to monitor surgical accuracy without diverting attention from the patient.
Solution Approach 2:
The patent transitions from two-dimensional screen-based monitoring to three-dimensional spatial overlay by projecting surgical guidance information directly into the surgeon's visual space. The AR headset creates a layered visual environment where virtual guidance elements (such as trajectory lines, target markers, and deviation indicators) are superimposed on the real surgical field, allowing simultaneous perception of both patient anatomy and surgical path information in the same spatial dimension.
2Manufacturing precision
If the surgeon continuously monitors the screen to ensure accurate drill passage and screw implantation, then surgical precision can be maintained, but the surgical process becomes less efficient due to frequent attention switching
Solution Approach 1:
The patent enables continuous monitoring of surgical accuracy by providing real-time visual feedback through the AR headset. The system continuously captures images from the surgical site, processes them to determine instrument position relative to the pre-planned surgical path, and updates the overlay display in real-time. This continuous feedback loop allows the surgeon to maintain precise drill passage and screw implantation without intermittent glances at external screens, thereby maintaining both precision and efficiency.
3Device complexity
If the surgeon relies on post-surgery CT scanning to verify surgical accuracy, then the surgical process remains simple, but any deviation from the pre-planned trajectory may cause undetected damage to surrounding tissues
Solution Approach 1:
The patent implements preliminary verification by providing real-time visual guidance and confirmation during the surgical procedure itself. The AR headset displays the pre-planned surgical path and continuously shows the instrument's position relative to this path, allowing the surgeon to verify accuracy before completing each critical step. This preliminary verification eliminates the need to rely solely on post-surgery CT scanning, as deviations can be detected and corrected during the procedure.
Solution Approach 2:
The patent implements a real-time feedback mechanism where the system continuously monitors instrument position, compares it with the pre-planned surgical path, and provides visual feedback through the AR headset. The feedback includes deviation indicators, trajectory guidance lines, and target acquisition status, enabling the surgeon to make immediate adjustments to maintain surgical accuracy and prevent tissue damage.
Data Source
AI summary
A robotic surgical system includes a surgical robot holding a surgical instrument, a wearable device worn by a person, a camera for capturing images, and a computer device. The camera captures images of a base marker, and a dynamic reference frame disposed on an affected part of a patient. The computer device calculates a plurality of conversion relationships among different coordinate systems, and controls the surgical robot to move the surgical instrument according to a pre-planned surgical path and based on the conversion relationships. Furthermore, the computer device transmits data of a 3D model and the pre-planned surgical path to the wearable device, such that the wearable device is configured to present the 3D model in combination with the pre-planned surgical path as an AR image based on the conversion relationships.