Surgical Robot Dynamic Reference Base Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robot-assisted surgical systems are error-prone, tedious, and limited in their ability to accurately position surgical instruments due to manual dexterity dependence, lack of mechanical feedback, and restricted movement paths, posing safety hazards during procedures like vertebrae fusion and thoracolumbar pedicle screw insertion.
Innovation Solution
A surgical robot system incorporating a dynamic reference base, local positioning system, and planning software to accurately locate anatomical structures and position surgical instruments relative to pre-op CT scans or fluoroscopy/x-ray images, enabling precise and safe surgical procedures through a robotic arm with enhanced range of motion and feedback mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of surgical instruments is used, then surgeon dexterity is required for positioning, but the process is tedious, time-consuming, and error-prone
Solution Approach 1:
The robotic system autonomously positions surgical instruments based on pre-operative imaging data and surgical plans, eliminating the need for continuous manual adjustment by the surgeon. The system self-corrects instrument positions and maintains alignment throughout the procedure, reducing both time and error rates.
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated robotic system that uses computer vision, sensors, and control algorithms to achieve and maintain precise instrument positioning. This substitution eliminates human fatigue and variability while reducing overall procedure time.
2Reliability
If conventional robotic systems are used, then hand tremor elimination is achieved, but the systems are expensive, obtrusive, and require cumbersome setup
Solution Approach 1:
The patent extracts the essential function of tremor elimination and positioning stability from complex conventional robotic systems. By using a simplified robotic arm with direct drive mechanisms and integrated sensors, the system achieves positioning stability without requiring cumbersome external components or complex setup procedures.
Solution Approach 2:
The robotic system is designed to perform multiple functions including tremor elimination, precise positioning, real-time imaging integration, and adaptive trajectory adjustment. This multi-functionality consolidates what would otherwise require multiple separate devices into a single integrated system, reducing overall complexity.
3Extent of automation
If current robot assisted systems are used, then surgical instrument positioning is automated, but the path and angle of insertion are limited due to robot arm configuration
Solution Approach 1:
The robotic arm employs dynamic joint configurations and real-time trajectory optimization algorithms that allow the system to adapt its movement paths during surgery. The robot can dynamically adjust its kinematics to achieve optimal insertion angles and paths while maintaining automated positioning control.
Solution Approach 2:
The patent introduces additional degrees of freedom through a multi-axis robotic arm with at least six degrees of freedom, enabling movement in three-dimensional space. This allows the system to approach the surgical site from multiple angles and trajectories that would be impossible with conventional fixed-configuration systems.
4Productivity
If surgical instruments are submerged within patient anatomy, then treatment is delivered, but mechanical feedback and visual placement are lost resulting in safety hazards
Solution Approach 1:
The robotic system incorporates real-time sensors, imaging systems, and force feedback mechanisms that continuously monitor instrument position and tissue interaction forces. This feedback is transmitted to the control system, which automatically adjusts instrument positioning and alerts the surgeon to potential safety issues, maintaining both productivity and safety.
Solution Approach 2:
The robotic system acts as an intermediary between the surgeon's intentions and the actual instrument-tissue interaction. It provides real-time visual feedback through integrated imaging systems and mechanical feedback through force sensors, allowing the surgeon to maintain awareness of instrument placement even when submerged within anatomy.
Data Source
AI summary
Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector and instruments may be tracked by surgical robot system and displayed to a user. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.