Dual-Arm Spine Surgery Robotics With Real-Time Imaging Co-Registration
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Solution Overview
Problem
Current robotic surgical systems face challenges in accurately and safely guiding surgical tools during spine surgery due to limited intraoperative visualization of soft tissues, especially when using fluoroscopy, and the risk of damaging critical anatomical structures like the spinal cord and meninges during minimally invasive procedures.
Innovation Solution
A robotic system with two robotic arms, one controlling an imaging device (e.g., ultrasound probe) and another controlling a surgical tool, provides real-time, three-dimensional visualization and guidance by correlating their positions with anatomical structures, using a computing device to update and align coordinate systems dynamically during the procedure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If fluoroscopy is used to provide intra-procedural imaging, then visualization of bony elements and metal tools is improved, but visualization of soft tissues is limited and radiation exposure increases
Solution Approach 1:
The patent introduces an ultrasound probe as an intermediary imaging device that can penetrate soft tissues to visualize structures like the spinal cord and meninges, complementing the traditional fluoroscopy approach for bony elements. This intermediary device enables simultaneous visualization of both soft and hard tissues without increasing radiation exposure.
Solution Approach 2:
The robotic system integrates multiple imaging capabilities (fluoroscopy for bony structures and ultrasound for soft tissues) into a single multi-functional platform. The system can switch between or combine these imaging modalities to provide comprehensive visualization of all anatomical structures during spine surgery, eliminating the need to choose between radiation-based and non-radiation-based imaging.
2Object-affected harmful factors
If minimally invasive procedures are performed, then patient trauma is reduced, but risk of damaging critical anatomical structures increases
Solution Approach 1:
The system provides real-time feedback to the surgeon through simultaneous ultrasound imaging of critical structures (spinal cord, meninges) and robotic tool position. This continuous feedback loop enables the surgeon to adjust tool position and surgical approach dynamically, preventing damage to critical tissues while maintaining minimally invasive access.
Solution Approach 2:
The patent replaces purely mechanical blind discectomy procedures with a system that uses ultrasound imaging guidance and robotic precision control. This substitution of blind mechanical action with image-guided precision reduces the risk of damaging critical anatomical structures while maintaining minimally invasive approach.
3Manufacturing precision
If real-time imaging guidance is implemented, then surgical accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges the ultrasound probe, robotic arm, and image processing system into an integrated unified platform. By combining these components and sharing common control and coordinate systems, the system achieves real-time imaging guidance for improved surgical accuracy while minimizing the increase in overall device complexity through shared infrastructure.
Solution Approach 2:
The system creates a digital copy or virtual model of the anatomical structures and surgical tools in real-time, allowing precise visualization and measurement without adding physical complexity to the surgical field. This virtual representation enables accurate guidance while keeping the physical system relatively simple.
4Measurement precision
If coordinate systems are dynamically updated and aligned, then position accuracy of tools and imaging devices is improved, but computational requirements increase
Solution Approach 1:
The system performs preliminary registration and alignment of coordinate systems before the surgical procedure begins, establishing a framework that reduces computational requirements during real-time operation. By preparing the coordinate transformation matrices and alignment parameters in advance, the system can maintain high position accuracy with reduced real-time computational burden.
Data Source
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AI summary
Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.