Steerable Flexible Drill for Curved Bone Lesion Removal
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Solution Overview
Problem
Conventional rigid tools limit accessibility and completeness of lesion removal in treating osteonecrosis of the femoral head, often resulting in incomplete necrotic bone removal and potential damage to surrounding cartilage during minimally-invasive surgery.
Innovation Solution
A steerable drilling device with a continuum dexterous manipulator (CDM) featuring a flexible portion with a controllable bending angle, actuated by a flexible cable, and equipped with a cutting tool and endoscope, allowing for precise navigation and control through a handheld device with robotic control options.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional rigid tools are used for core decompression, then the surgical procedure is simple and quick, but accessibility to the entire necrotic lesion is limited and complete removal cannot be achieved
Solution Approach 1:
The patent employs a steerable drill with a flexible distal end that can dynamically change its orientation and curvature during insertion. The drill shaft includes a flexible portion with notches that allow controlled bending, enabling the drill to adapt its path to reach necrotic lesions in various locations within the femoral head while maintaining ease of operation through a single incision approach
2Device complexity
If conventional rigid drilling tools are used, then the device structure is simple, but complete removal of necrotic bone cannot be achieved without damaging surrounding cartilage
Solution Approach 1:
The patent changes the physical parameter of drill flexibility by incorporating a flexible distal end with controlled curvature. The drill shaft transitions from rigid proximal to flexible distal, with notches strategically placed to enable bending. This parameter change allows the drill to precisely navigate to the necrotic lesion and remove it completely while the surrounding cartilage remains protected due to the controlled, adaptable path
3Reliability
If multiple drilling holes are created to ensure complete lesion removal, then the effectiveness of treatment is improved, but the complexity and invasiveness of surgery increases
Solution Approach 1:
The steerable drill with its flexible distal end and controllable bending capability allows a single drill to dynamically adjust its trajectory and reach multiple areas of the necrotic lesion that would otherwise require multiple separate drilling holes. This dynamic adaptability maintains treatment effectiveness while reducing surgical complexity and invasiveness
Data Source
AI summary
An embodiment in accordance with the present invention provides a continuum dexterous manipulator (CDM) with a specially designed flexible tool, to be used as a handheld or robotic steerable device for treatment of hard-tissue-related diseases. The CDM of the present invention works well in treatment of soft and sticky material (similar to a lesion) as well as milling the hard tissues (e.g. sclerotic liner of osteolytic lesions) and bone tumors. The present invention is also directed to flexible drilling tools as well as characterization and evaluation of integrating these tools with the CDM in curved-drilling of hard bone towards treatment of hard tissue related diseases (e.g. osteonecrosis or pelvic fracture). The present invention can also include use of various types of drill geometries, aspiration and irrigation, and endoscope view in curved-drilling and trajectory planning.