Robotic Spine Navigation via CT-Imaged Back Bracing
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Solution Overview
Problem
Accurately tracking the position of the spine during surgery is challenging due to its posture-dependent changes, especially when using narrow implants like pedicle screws, and existing minimally invasive surgical techniques lack precision.
Innovation Solution
A system comprising a back bracing with positioning marks imaged via CT, a robotic arm, and a computer system that generates conversion models between image, operating, and arm spaces, allowing real-time navigation and precise positioning of the robotic arm relative to the spine.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a pedicle screw is used to implant in the spine, then the pain can be reduced and basic functions maintained, but the central nervous system may be damaged due to the narrow application area
Solution Approach 1:
The patent introduces a robotic arm as an intermediary device between the surgeon and the spine implantation process. The robotic arm precisely controls the pedicle screw insertion, acting as a mediator that eliminates manual positioning errors and prevents damage to the central nervous system while maintaining the therapeutic benefits of pedicle screw fixation
Solution Approach 2:
The patent replaces the traditional manual mechanical positioning system with an automated robotic positioning system. The robotic arm uses computer-controlled mechanisms to precisely position and insert pedicle screws, substituting human manual operation with automated mechanical control to eliminate the risk of nerve damage
2Object-affected harmful factors
If orthopedic minimally invasive surgery is performed, then the surgical trauma is reduced, but the position tracking of the spine becomes inaccurate due to posture changes
Solution Approach 1:
The patent implements a dynamic registration system that continuously adapts to the patient's posture changes during surgery. The back bracing with positioning marks moves dynamically with the patient's spine, and the robotic arm adjusts its positioning in real-time to maintain accurate tracking despite posture variations, enabling precise minimally invasive surgery
Solution Approach 2:
The patent employs a feedback mechanism where the computer system continuously monitors the position of the back bracing and robotic arm relative to the spine, and automatically adjusts the robotic arm's positioning to compensate for posture changes. This closed-loop feedback system maintains measurement precision throughout the surgical procedure
3Manufacturing precision
If a robotic arm is introduced for precise positioning, then the surgical accuracy is improved, but the system complexity increases
Solution Approach 1:
The patent divides the complex robotic surgical system into modular segments: a back bracing unit with positioning marks, a robotic arm with base, and a computer control system. Each module performs a specific function and can be independently calibrated, simplifying the overall system complexity while maintaining high positioning accuracy through coordinated operation of the segmented components
Data Source
AI summary
A system for registering operating space includes a back bracing, a computer system and a robotic arm. The back bracing includes positioning marks which can be imaged in a computer tomography (CT) image, and the back bracing is used to be worn by a patient. The computer system computes image coordinates of the positioning marks in an image space. A base of the robotic arm is connected to the back bracing in an operating space after the CT image is generated. The robotic arm contacts the positioning marks in the operating space and meanwhile the computer system obtains arm coordinates of the robotic arm in an arm space. The computer system generates conversion models among the image space, the operating space, and the robot arm space according to the image coordinates and the arm coordinates.