Spinal Surgery Robot with 3-Leg Actuated Platform
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Solution Overview
Problem
Current robotic systems for spinal surgery are complex and not well-suited for medical applications, lacking the precision and safety required for precise placement of instrumentation and minimizing exposure to critical spinal structures, which poses risks of injury and complications.
Innovation Solution
A robotic system with a moving top platform and three legs, each with a lower and upper part joined by electric linear actuators, allowing 6-degree-of-freedom movement, and equipped with a guide for surgical instruments, capable of precise positioning and integration with imaging probes for 3D imaging, enabling precise placement of spinal instrumentation and reducing exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic systems are used for spinal surgery, then automation and precision are improved, but device complexity increases and limits medical applications
Solution Approach 1:
The robotic system is divided into modular components: a base unit with control systems, a robotic arm with articulated joints, and interchangeable surgical instrument attachments. This segmentation allows the complex functionality to be distributed across manageable modules, reducing overall system complexity while maintaining high placement precision through coordinated control of individual segments
Solution Approach 2:
The robotic system employs a universal base platform that can accommodate multiple types of surgical instruments and adapt to different spinal surgery procedures. The standardized interface and programmable control system allow the same hardware platform to perform various surgical tasks, reducing device complexity by eliminating the need for multiple specialized robotic systems
2Productivity
If surgical duration is reduced, then productivity is improved, but precision and safety may be compromised
Solution Approach 1:
The system performs preliminary actions including pre-operative 3D imaging and reconstruction, virtual surgical planning, and pre-positioning of the robotic arm according to the planned trajectory. These preparatory steps are completed before the actual surgery begins, allowing the surgical execution phase to proceed quickly while maintaining precision through adherence to the pre-planned safe trajectory
Solution Approach 2:
The robotic system incorporates real-time feedback mechanisms including position sensors that continuously monitor the robotic arm's location, force sensors that detect resistance during instrument manipulation, and integration with intraoperative imaging systems. This feedback loop allows the system to maintain precision and safety while operating at high speed by automatically adjusting parameters based on real-time conditions
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 allows for quicker and more precise placement of spinal instrumentation, reducing surgical duration, infection risk, and radiation exposure, while providing accurate preoperative planning and minimizing manipulation errors, thus enhancing clinical outcomes.
Implementation Method 1
each of the three legs may include a lower part and an upper part rotatably joined by an electric linear actuator, the linear actuator being used to slide the upper part linearly relative to the lower part
Implementation Method 2
the lower part of each leg may be joined to a shaft of a rotary actuator through a passive resolute joint, where the rotary actuator is mounted on the base at a fixed point
Implementation Method 3
The robot may also mount a movable housing thereon for accommodating an imaging probe such as an ultrasound imaging device. The system may capture one or more images of the patient and construct a 3D imaging for the surgeon to analyze specific part of the patient
Data Source
AI summary
A robot for spinal surgery may include an open rectangular base designed to slide on a rail of a fixed support to reach to different parts of the spine. The robot may include a moving top platform that can accommodate a surgical instrument, and three legs to support the top platform on the base and move the top platform in 6-degree-of-freedom relative to the base. In one embodiment, each of the three legs may include a lower part and an upper part joined by an electric linear actuator for sliding the upper part linearly relative to the lower part. In one embodiment, the lower part of each leg may be joined to a shaft of a rotary actuator that is mounted to the base, and the upper part of each log can be joined to the top platform at a fixed point via a passive spherical joint.