Robotic Surgical Navigation with Force-Sensed Anatomy Registration
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Solution Overview
Problem
Current surgical navigation systems face limitations such as line of sight requirements, precision issues, desynchronization over time, complexity, and high costs, which interfere with surgical procedures and increase the risk of complications.
Innovation Solution
A robotic surgical system with a robotic arm equipped with a force sensor that collects spatial coordinates through haptic feedback to register and re-register patient anatomy accurately, allowing for real-time navigational assistance without separate navigation systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking technologies with camera systems are used to track specialized markers, then the position and orientation of surgical instruments and patient anatomy can be determined, but line of sight requirements limit tracking accuracy and reliability when fiducial elements are obscured
Solution Approach 1:
The patent replaces optical tracking systems with a robotic arm-based mechanical tracking system. The robotic arm directly measures spatial coordinates through force sensors and haptic feedback, eliminating the need for optical line of sight to fiducial markers. This mechanical approach provides reliable tracking even when optical paths are obstructed by surgical drapes, blood, or other obfuscating factors.
Solution Approach 2:
The patent introduces a robotic arm as an intermediary between the surgical field and the navigation system. Instead of cameras directly observing fiducial markers, the robotic arm physically interacts with the surgical environment, using force sensors to detect contact with anatomical landmarks and automatically collect spatial coordinate data, thereby mediating the tracking process in a way that is immune to optical obstructions.
2Loss of information
If separate navigation systems are used to provide navigational assistance, then real-time feedback can be provided to surgeons, but system complexity and costs increase
Solution Approach 1:
The patent merges the robotic surgical system with the navigation system into a single integrated platform. The robotic arm serves dual purposes: performing surgical tasks and simultaneously providing navigational tracking. By combining these functions, the system eliminates the need for separate navigation hardware, reducing overall system complexity and cost while maintaining real-time navigational feedback capabilities.
Solution Approach 2:
The robotic arm is designed with multi-functionality, serving both as a surgical manipulation tool and as a navigation tracking device. The same robotic arm that performs surgical procedures also collects spatial coordinate data for navigation, eliminating the need for dedicated navigation equipment and reducing system complexity through universal application.
3Measurement precision
If fixed markers are attached to patient anatomy for registration, then initial navigation can be established, but desynchronization occurs over time as patient position or anatomy changes during procedure
Solution Approach 1:
The patent transitions from static fixed marker-based registration to a dynamic tracking system. The robotic arm continuously collects spatial coordinate data throughout the procedure, automatically updating the registration as patient position or anatomy changes. This dynamic approach maintains registration accuracy throughout the entire surgical procedure rather than relying on initial fixed markers that become desynchronized.
Solution Approach 2:
The patent implements continuous tracking throughout the surgical procedure. Instead of performing registration once at the beginning with fixed markers, the robotic arm continuously collects spatial coordinate data, maintaining accurate registration throughout the entire procedure. This continuous action ensures that navigational feedback remains synchronized with the actual surgical field at all times.
4Measurement precision
If specialized surgical registration instruments with fiducial elements are used, then accurate point collection can be achieved, but procedure time increases and surgical workflow is interrupted
Solution Approach 1:
The robotic arm performs registration automatically without requiring specialized surgical registration instruments. The system uses its own end effector to contact anatomical landmarks and collect spatial coordinate data, eliminating the need for separate registration tools. This self-service approach integrates registration into the normal surgical workflow without requiring additional instruments or interrupting the procedure.
Solution Approach 2:
The robotic arm is pre-configured with force sensors and haptic feedback capabilities that enable automatic spatial coordinate collection. The system is prepared in advance to perform registration functions, eliminating the need to introduce and set up specialized registration instruments during the procedure. This preliminary preparation allows registration to occur seamlessly as part of the surgical workflow.
Data Source
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AI summary
In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.