Hand-Held Robotic Surgical Tool Alignment for Precise Resection
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Solution Overview
Problem
Existing surgical robotic systems face challenges such as cumbersome large robots, limited adjustability of hand-held instruments, and navigation systems that distract users from the surgical site, requiring improved systems for precise and efficient tissue resection.
Innovation Solution
A hand-held surgical robotic system with a movable blade support and actuator assembly allowing multiple degrees of freedom, featuring visual alignment indicators to ensure optimal positioning and alignment of the blade support relative to the hand-held portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If physical cutting guides are used to constrain surgical tools, then manufacturing precision of cuts is improved, but loss of time increases due to positioning and securing requirements
Solution Approach 1:
The patent replaces physical cutting guides with a robotic system that uses computer vision and haptic feedback to guide the surgical tool. The robotic system provides real-time alignment guidance through visual displays and force feedback, eliminating the need for physical guides while maintaining cut precision and reducing positioning time.
Solution Approach 2:
The patent uses virtual models and digital replicas of the surgical site to guide the procedure. A pre-operative 3D model is created and used to plan the surgery, with the robotic system providing real-time navigation based on this digital copy, replacing the need for physical cutting guides.
2Manufacturing precision
If navigation systems with displays are used to track tool position, then manufacturing precision is improved, but ease of operation worsens due to user distraction from the surgical site
Solution Approach 1:
The patent merges the navigation display with the surgical field of view by projecting alignment indicators directly onto or near the surgical site. The haptic feedback mechanism combines tactile guidance with visual feedback, allowing the user to maintain focus on the surgical site while receiving precise alignment information through both touch and sight.
Solution Approach 2:
The patent introduces haptic feedback as an intermediary between the navigation system and the user. The force feedback mechanism translates digital alignment information into tactile cues that the user can feel, serving as a mediator that conveys precision information without requiring visual attention away from the surgical site.
3Manufacturing precision
If robotic hand-held instruments with actuators are used to align tools, then manufacturing precision is improved, but adaptability worsens due to limited range of adjustability
Solution Approach 1:
The patent implements a dynamic adjustment system where the robotic hand-held instrument can be repositioned and reoriented during the procedure. The actuator assembly allows for real-time modification of the tool's position and angle, enabling the system to adapt to different surgical scenarios while maintaining precise alignment through active control.
Solution Approach 2:
The patent utilizes multiple adjustable parameters including the position of the actuator assembly, the angle of the blade support, and the orientation of the hand-held portion. By changing these parameters dynamically, the system achieves both precise alignment and broad adaptability to various surgical requirements.
4Adaptability or versatility
If large robots with six degrees of freedom are used, then adaptability is improved, but device complexity increases making them cumbersome to operate
Solution Approach 1:
The patent divides the robotic system into separate functional modules: a hand-held portion for user control, an actuator assembly for positioning, and a blade support for tool mounting. This segmentation allows each component to be optimized independently, reducing overall complexity while maintaining six degrees of freedom for adaptive positioning.
Solution Approach 2:
The patent implements a dynamic, modular robotic system where the hand-held portion can be freely positioned and oriented by the user, and the actuator assembly dynamically adjusts the blade support position. This dynamic architecture provides six degrees of freedom without the complexity of a fully rigid robotic arm, making the system more maneuverable and easier to operate.
Data Source
AI summary
A system is provided comprising a surgical robotic system for use with a tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the tool. The robotic system further includes an actuator assembly operatively attached to the tool support and the hand-held portion and configured to move the tool support relative to the hand-held portion in a plurality of degrees of freedom. The robotic system may include a handle alignment member extending from the hand-held portion. At least a portion of the handle alignment member and a tool plane defined by the tool are aligned when the tool support has an optimal range of motion relative to the hand-held portion.