Surgical Instrument Tracking Markers for Robotic Trajectory Automation
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Solution Overview
Problem
Current surgical navigation methods for inserting implants into bones are cumbersome and dependent on the surgeon's dexterity, particularly when changing the trajectory of insertion from the skin to the bone.
Innovation Solution
A surgical navigation system using a robotic system with a robot base, robot arm, end effector, and surgical instrument with tracking markers, allowing for precise movement from an initial trajectory to a final trajectory for implant insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a surgeon manually holds and positions a drill guide tube using a guidance system, then the surgeon can perform the surgical procedure, but the process becomes tedious and time-consuming
Solution Approach 1:
The surgical instrument is equipped with tracking markers that enable automatic tracking by the navigation system, eliminating the need for manual positioning and allowing the instrument to self-report its position throughout the procedure
Solution Approach 2:
The manual mechanical positioning process is replaced with an automated optical tracking system that uses cameras to monitor the position of tracking markers on the surgical instrument, substituting human dexterity with automated vision-based measurement
2Measurement precision
If the surgeon manually navigates the tool to bone and then angles the tool to the desired final trajectory, then the surgical procedure can be completed, but the process requires constant monitoring of navigation screens and reduces surgical accuracy
Solution Approach 1:
The tracking markers provide continuous real-time feedback to the navigation system about the surgical instrument's position and orientation, allowing the surgeon to monitor trajectory accuracy without constantly checking navigation screens and enabling immediate correction if deviations occur
Solution Approach 2:
The tracking markers use visual indicators (such as colored patterns or reflective properties) that can be easily distinguished by the camera system, providing clear visual feedback about the instrument's position and orientation state
3Measurement precision
If a robotic system is used to automate the surgical instrument positioning, then surgical accuracy is improved, but the device complexity increases
Solution Approach 1:
The tracking markers serve as an intermediary between the surgical instrument and the navigation/robotic system, providing a simple interface that enables precise tracking and control without requiring complex integrated systems
Solution Approach 2:
The tracking markers on the surgical instrument serve multiple functions: they enable optical tracking for position measurement, provide visual feedback for trajectory monitoring, and facilitate robotic system integration, making the instrument compatible with multiple system configurations
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 enables precise and efficient insertion of implants into bones by automating the transition from the initial skin penetration trajectory to the final bone insertion trajectory, reducing manual effort and improving surgical accuracy.
Implementation Method 1
Infrared transmitters transmit a signal, and the reflective spherical balls reflect the signal to aid in determining the position of the object in 3D
Implementation Method 2
In active sensors or markers, the objects to be tracked include active infrared transmitters, such as light emitting diodes (LEDs), and thus generate their own infrared signals for 3D detection
Data Source
AI summary
Devices, Systems, and Methods for changing the trajectory of a surgical implant from an initial trajectory when first penetrating the skin of a patient to a final trajectory when the surgical implant is to be inserted into a bone of the patient. A surgical robotic system may be used to determine the initial and final trajectories and to move the surgical instrument from the initial trajectory to the final trajectory.