Steerable Robotic Drill Hybrid Tracking for Bone Milling
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Solution Overview
Problem
Current surgical robotic systems lack the precision and flexibility needed for bone milling in orthopaedic surgery, particularly in navigating curved profiles and preventing intra-operative fractures, and providing a precise fit for prostheses.
Innovation Solution
A remote operations system with a flexible, articulated, and steerable robotic surgical drill equipped with a hybrid position tracking system, combining non-optical and optical tracking technologies to accurately navigate and drill curved profiles within bones, using a kinematic chain with high-speed micro ball bearings to reduce friction and a control system with high torque servo motors for sustained bending.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a rigid robotic device is used for bone milling, then structural stability is maintained, but the ability to navigate curved profiles and constrained spaces is limited
Solution Approach 1:
The robotic device is divided into multiple articulated segments or links connected by joints, allowing each segment to move independently relative to others. This segmentation enables the device to bend and articulate to follow curved bone profiles while maintaining structural integrity through the rigid construction of individual segments.
Solution Approach 2:
The robotic device transitions from a static rigid structure to a dynamic articulated mechanism with movable joints. The joints allow the device to change its configuration and adapt to curved anatomical surfaces, providing both flexibility for navigation and stability through controlled positioning.
2Adaptability or versatility
If a flexible articulated device is used to navigate curved profiles, then adaptability to complex bone structures is improved, but positioning precision and force control are reduced
Solution Approach 1:
The robotic system incorporates sensors and control systems that provide real-time feedback on the position and orientation of the articulated device. This feedback enables closed-loop control to compensate for positioning errors and maintain precision despite the flexibility and articulation of the device.
Solution Approach 2:
The system replaces purely mechanical positioning with a combination of mechanical articulation and computational control. Software algorithms and control systems calculate and adjust the positions of articulated segments to achieve precise targeting, substituting mechanical rigidity with intelligent control.
3Loss of information
If optical tracking systems are used alone for position monitoring, then real-time visualization is achieved, but tracking reliability is reduced when the device is located inside the body
Solution Approach 1:
The system merges optical tracking with non-optical tracking methods (such as electromagnetic or inertial sensors). This combination ensures that position data can be obtained through multiple modalities, with non-optical methods providing reliable tracking when the device is inside the body where optical signals may be blocked.
Solution Approach 2:
The tracking system is designed to be multi-functional, capable of operating in both optical and non-optical modes. This universal tracking approach allows the system to maintain position monitoring reliability regardless of whether the device is outside or inside the patient's body.
4Ease of operation
If high-speed micro ball bearings are used to reduce friction, then articulation smoothness is improved, but device complexity increases
Solution Approach 1:
The device incorporates flexible elements such as flexible shafts or control members that run through the articulated segments. These flexible elements provide the articulation and bending capability without requiring complex mechanical joints with ball bearings, reducing friction while maintaining operational smoothness.
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
Enables precise and accurate bone milling and drilling, reducing the risk of fractures and improving the fit of prostheses by providing a flexible and accurate robotic system capable of navigating complex bone structures, enhancing surgical precision and patient outcomes.
Implementation Method 1
The location or position tracking system may be or comprise an optical tracking device
Implementation Method 2
a kinematic chain with high-speed micro ball bearings to reduce friction
Implementation Method 3
a control system with high torque servo motors for sustained bending
Data Source
AI summary
A surgical system having an arm or elongate portion, the arm or elongate portion being bendable, articulated, reconfigurable and/or flexible such that the arm or elongate portion is steerable by bending, articulating, reconfiguring and/or flexing of the arm. The arm or elongate portion includes or is configured to receive at least one tool or load. The system includes one or more first and/or second location or position tracking systems that are configured to determine and/or track a location and/or position of one or more parts or a whole of the arm or elongate portion and/or the tool or load. The at least one first location or position tracking system is a non-optical or non-radiation based location or positioning tracking system. The second location or position tracking system is an optical or radiation based positioning system. The system includes or is configured to implement or configured to communicate with a navigation platform for facilitating navigation and/or operation of the system using the location and/or position obtained from the one or more first and/or second location or position tracking systems.