Robotic Surgical System Impedance Sensing Navigation
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Solution Overview
Problem
Existing surgical navigation systems face limitations in accurately confirming the three-dimensional location of a surgical tool, particularly in robotic-assisted surgeries, due to factors like patient repositioning and the reliance on two-dimensional images, which can lead to reduced precision and increased radiation exposure. Additionally, these systems often fail to provide real-time registration and adequate feedback to avoid anatomical transitions, posing risks during delicate procedures like spinal implant placement.
Innovation Solution
A robotic surgical system equipped with an impedance sensing system and navigation system that uses a bipolar electrode arrangement to sense electrical characteristics of anatomical tissues, providing real-time feedback to adjust the trajectory of the robotic arm and prevent damage to sensitive areas, thereby enhancing precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopic or CT images are periodically updated during surgical procedure, then registration accuracy is improved, but radiation exposure to patient and surgeon increases
Solution Approach 1:
The system performs preliminary registration of the surgical tool with pre-acquired images before the surgical procedure begins. This preliminary action establishes an accurate reference framework that does not require repeated updates during surgery, thereby maintaining registration accuracy while eliminating the need for continuous radiation exposure.
Solution Approach 2:
The navigation system provides continuous visual feedback by superimposing the registered position of the surgical tool onto the pre-acquired images. This feedback mechanism allows the surgeon to maintain accurate positioning without requiring repeated image acquisition, thus resolving the contradiction between registration accuracy and radiation exposure.
2Loss of information
If multiple views of patient anatomy are displayed, then spatial understanding is improved, but surgeon's ability to mentally integrate views in real time deteriorates
Solution Approach 1:
The system merges multiple anatomical views and the surgical tool position into a single integrated three-dimensional visual representation. This consolidation allows the surgeon to perceive spatial relationships and tool location simultaneously without the cognitive burden of integrating multiple separate two-dimensional views.
Solution Approach 2:
The system transitions from displaying multiple two-dimensional views to presenting a three-dimensional visualization of the anatomical structures and surgical tool. This dimensional enhancement provides intuitive spatial understanding while eliminating the need for mental integration of multiple planar images.
3Reliability
If robotic arm is used to perform surgery, then surgeon fatigue is reduced and tremor transmission is eliminated, but tactile feel during advancement of working end is reduced
Solution Approach 1:
The navigation system acts as an intermediary that provides visual feedback to compensate for the loss of tactile feedback in robotic surgery. By displaying the registered position of the robotic tool and providing spatial orientation information, the system enables the surgeon to sense tool position and tissue interactions visually, replacing the missing tactile sensation.
4Device complexity
If navigation system provides two-dimensional displayed images, then system complexity is reduced, but confidence in three-dimensional location of working end deteriorates
Solution Approach 1:
The system enhances two-dimensional displayed images by overlaying three-dimensional spatial information, including the position and orientation of the surgical tool within the anatomical context. This dimensional enrichment allows the surgeon to accurately determine three-dimensional tool location while maintaining the simplicity of a two-dimensional display interface.
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
The system enables accurate three-dimensional localization of surgical tools, reduces radiation exposure, and improves real-time registration, allowing for precise control of robotic arm movements to avoid anatomical transitions, thus enhancing the reliability and safety of robot-assisted surgeries.
Implementation Method 1
a bipolar electrode arrangement to sense electrical characteristics of anatomical tissues
Data Source
AI summary
Systems, instruments, and methods are provided verifying that a robotic surgery is being performed in accordance with a surgical plan, wherein a surgical tool having a sensor outputs a data signal that enables the trajectory of the surgical tool to be displayed as an overlay on an image of an anatomical portion of a patient and a visual or audible signal that confirms the surgical tool is penetrating the anatomical portion in accordance with the surgical plan and/or that issues an alert indicating that the surgical tool is not being inserted into the anatomical portion according to the surgical plan.