Robotic Surgical Arm Tracking for Precise Spinal Tool Alignment
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Solution Overview
Problem
Current robotic surgical systems are expensive, require extensive preoperative planning, obstruct the surgeon's view, are non-intuitive, and prone to malfunctions, making them less acceptable for spinal surgeries that demand precise screw placement and are vulnerable to human error.
Innovation Solution
A robotic surgical system with a robotic arm, force and torque control, real-time tracking, and feedback mechanisms to stabilize surgical instruments along pre-planned trajectories, allowing for precise alignment and automatic adjustment to maintain accuracy during spinal surgeries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic systems are used to improve surgical precision and filter tremors, then surgical precision is improved, but the systems become expensive to own and maintain
Solution Approach 1:
The robotic system is divided into modular components including a robotic arm, end effector, and control system that can be independently manufactured, maintained, and replaced. This segmentation reduces overall system cost and maintenance expenses while preserving surgical precision capabilities.
Solution Approach 2:
The system uses optical tracking and visual feedback to create a virtual representation of the surgical field, allowing surgeons to work with a simplified interface that replicates natural hand-eye coordination. This copying approach reduces the complexity and cost of the physical robotic interface while maintaining precision.
2Ease of operation
If robotic systems provide feedback control for smoother manipulation, then manipulation smoothness is improved, but the systems extend preparation time in the operating room
Solution Approach 1:
The robotic arm and end effector are pre-assembled and pre-calibrated outside the operating room, with all necessary setup completed before patient arrival. This preliminary preparation eliminates time-consuming intraoperative configuration while maintaining smooth feedback-controlled manipulation during surgery.
3Stability of the object's composition
If robotic systems are physically intrusive to provide stability, then operational stability is improved, but they obscure portions of the surgeon's field of view
Solution Approach 1:
The system replaces bulky mechanical stabilization structures with a lightweight robotic arm that provides stability through active control and feedback mechanisms. This substitution reduces physical obstruction of the surgical field while maintaining operational stability through software-based control.
4Adaptability or versatility
If manual surgical techniques are used for screw placement, then surgical flexibility is maintained, but there is significant variation in success rate among different surgeons
Solution Approach 1:
The robotic system incorporates real-time optical tracking and visual feedback that continuously monitors drill trajectory and provides corrective guidance to the surgeon. This feedback loop standardizes the drilling process across different surgeons, eliminating variation in success rates while preserving surgical flexibility through maintainable manual control.
Data Source
AI summary
A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.