Spinal Rod Insertion Path Planning With Tower Motion Tracking
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Solution Overview
Problem
Minimally invasive surgery (MIS) procedures for spinal rod insertion are time-consuming and complex, particularly when multiple pedicle screws are involved, with challenges in rod alignment and movement within the patient's anatomy.
Innovation Solution
A robotic system and method for preoperative planning using machine-learning algorithms to identify anatomical elements and calculate optimal rod insertion paths, combined with robotic arms for precise rod insertion and tracking, adjusting for movement of pedicle screw towers during the procedure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple pedicle screws and towers are used for spinal rod insertion, then the number of treatable levels increases, but the procedure time and complexity increase significantly
Solution Approach 1:
The system performs preoperative planning and calculates optimal rod insertion paths before the actual surgery. This preliminary calculation of insertion trajectories and positioning reduces the time required during the actual procedure, allowing multiple levels to be treated efficiently without proportionally increasing procedure duration
2Productivity
If multiple pedicle screws and towers are used for spinal rod insertion, then the number of treatable levels increases, but the procedure complexity increases
Solution Approach 1:
The patent replaces manual mechanical manipulation with an automated robotic system that executes precalculated insertion paths. The robotic arm automatically positions and inserts rods according to computationally determined trajectories, eliminating the need for complex manual coordination of multiple towers and screws, thereby reducing procedure complexity while enabling treatment of multiple spinal levels
3Device complexity
If manual rod insertion is performed without robotic assistance, then device complexity is reduced, but manufacturing precision and alignment accuracy deteriorate
Solution Approach 1:
The system replaces manual mechanical insertion with an automated robotic system that executes precalculated three-dimensional insertion paths. This substitution enables precise rod alignment and positioning accuracy that cannot be achieved through manual manipulation alone, as the robotic system can follow computationally optimized trajectories with high precision
4Manufacturing precision
If robotic arms are used for rod insertion, then manufacturing precision and alignment accuracy improve, but device complexity increases
Solution Approach 1:
The system performs all complex path calculations and planning operations before the robotic insertion phase. By precalculating optimal three-dimensional trajectories and positioning parameters, the system reduces the complexity of real-time robotic control during surgery, allowing the robotic arm to simply execute predetermined precise movements rather than requiring complex real-time decision-making algorithms
Data Source
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AI summary
Systems and methods for inserting a rod is provided. At least one tower extending from a head of a corresponding implanted pedicle screw may be tracked to identify a tower movement. An insertion point and a path from the insertion point to the at least one tower may be calculated. The rod may be inserted at the insertion point and along the rod and the path may be adjusted during insertion of the rod based on identified tower movement.