Surgical Robotic Arm Free-Mode Registration With Optical Tracking
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Solution Overview
Problem
Conventional minimally invasive surgical systems lack the ability to dynamically adapt to the intraoperative environment, require rigid fixation of anatomy, and are not transparent to the surgeon, leading to inaccuracies and unpredictability in bone sculpting and implant placement.
Innovation Solution
A surgical system that includes a haptic device with a tracking system to monitor the position and orientation of surgical tools and anatomy, providing real-time haptic guidance to ensure precise bone resections by dynamically adjusting to the intraoperative environment, allowing the surgeon to sculpt complex shapes while maintaining control and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional autonomous robotic systems are used for bone machining, then precise bone resections are achieved, but the surgeon must cede control to the robot and the system requires rigid clamping of the bone during registration and cutting
Solution Approach 1:
The system transitions from rigid, fixed-position robotic arms to a dynamic handheld tool that can be freely positioned and repositioned by the surgeon. The tracking system continuously monitors the tool's position and updates the virtual boundary constraints in real-time, allowing the surgeon to maintain full control while achieving precise bone resections. The bone is not rigidly clamped but can move dynamically during the procedure.
Solution Approach 2:
The system replaces the mechanical constraint of rigid clamping with a software-based virtual boundary system. Instead of physically restraining the bone and robotic arm, the system uses tracked coordinates and virtual constraints that adapt to the surgeon's movements and the bone's natural motion, eliminating the need for rigid mechanical fixation.
2Ease of operation
If conventional interactive robotic systems with fixed position are used, then the surgeon can manipulate the cutting tool with force feedback, but the system lacks real-time adaptability to the dynamic intraoperative scene
Solution Approach 1:
The system implements continuous real-time feedback through a tracking system that monitors the handheld tool's position, orientation, and the bone's movement. This feedback loop allows the virtual boundary constraints to dynamically adjust to the intraoperative scene, enabling the surgeon to manipulate the tool freely while the system adapts to changing conditions without requiring fixed positioning.
Solution Approach 2:
The system replaces the static, fixed-position architecture with a dynamic handheld tool that moves freely in three-dimensional space. The tracking system continuously updates the tool's coordinates and the virtual boundary constraints adapt in real-time to the bone's natural motion and the surgeon's manipulation, providing both ease of operation and real-time adaptability.
3Stability of the object's composition
If rigid clamping of the bone is used during registration and cutting, then the autonomous robotic system can maintain fixed position, but the system lacks real-time adaptability to the dynamic intraoperative scene
Solution Approach 1:
The system replaces mechanical rigid clamping with a software-based tracking and virtual constraint system. The bone is not physically restrained but is monitored through coordinate tracking, and the virtual boundary constraints adapt to the bone's natural motion, maintaining stability while enabling real-time adaptability to the dynamic intraoperative scene.
Solution Approach 2:
The tracking system continuously monitors the bone's position and movement, providing real-time feedback that allows the virtual boundary constraints to adapt to the dynamic intraoperative scene. This feedback mechanism maintains effective stability without requiring rigid mechanical clamping, as the system dynamically adjusts to the bone's motion.
4Manufacturing precision
If conventional surgical navigation techniques are used, then implant placement accuracy is improved, but a large amount of specialized instrumentation and a lengthy training process are required
Solution Approach 1:
The handheld surgical tool serves multiple functions: it is both the cutting instrument and the tracking device. The tool incorporates fiducial markers that enable the tracking system to monitor its position and orientation, eliminating the need for separate specialized navigation instrumentation. This multi-functional design achieves accurate implant placement while reducing device complexity and training requirements.
Solution Approach 2:
The surgical tool is self-tracking, meaning it carries its own fiducial markers and coordinates that enable the tracking system to monitor its position without requiring external specialized instrumentation. The tool serves its own navigation needs, eliminating the need for separate navigation devices and reducing overall system complexity.
Data Source
AI summary
A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.