Robot-Assisted Surgical Tool Insertion with Multiaxis Force Feedback
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Solution Overview
Problem
In surgical procedures, especially those involving vertebrae fusion, accurately drilling holes into complex bone structures is challenging due to manual dexterity requirements and the risk of surgical instruments wandering from intended locations, especially at steeper angles, leading to unintended movement or 'skiving' of the drill tip.
Innovation Solution
A robot-assisted surgical system that applies insertion forces to surgical instruments, monitors forces and moments using load cells, and compares them to predetermined thresholds to detect and prevent unintended movement, providing real-time feedback to maintain precise instrument alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
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 is tedious and time-consuming with low precision due to reliance on surgeon dexterity
Solution Approach 1:
The patent replaces the manual mechanical positioning system with an automated robotic arm system that uses computer-controlled mechanisms to position and hold the drill guide tube, eliminating the need for manual surgeon manipulation and significantly improving both precision and efficiency
Solution Approach 2:
The robotic system autonomously positions and maintains the drill guide tube without requiring continuous manual adjustment by the surgeon, allowing the system to self-correct and self-maintain positioning accuracy throughout the surgical procedure
2Ease of operation
If a sharp instrument is driven into bone at a steep angle, then the instrument can penetrate the bone, but the tip wanders or skives due to increased reaction force parallel to the bone surface
Solution Approach 1:
The patent incorporates force sensors that continuously monitor the reaction forces between the instrument tip and bone surface, providing real-time feedback to the control system which then adjusts the applied forces to counteract skiving tendencies and maintain precise instrument positioning
Solution Approach 2:
The robotic system applies counteracting forces through the instrument holder to balance the bone reaction forces, particularly the parallel component that causes skiving, thereby preventing unintended instrument movement while maintaining penetration capability
3Manufacturing precision
If multiaxial force and moment feedback is implemented to prevent skiving, then instrument positioning accuracy is improved, but the device complexity increases
Solution Approach 1:
The robotic system integrates multiple functions including positioning, force application, force sensing, and control within a single unified platform, allowing the same system to perform both precise positioning and active skiving prevention without requiring separate dedicated devices
Solution Approach 2:
The patent combines the force sensors, actuators, and control systems into an integrated robotic end-effector assembly, merging multiple subsystems that work together to provide both positioning and force feedback functions in a compact unified structure
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 enhances surgical precision and accuracy by preventing skiving and ensuring correct hole placement, reducing the reliance on surgeon dexterity and improving mechanical integrity in bone fusion procedures.
Implementation Method 1
monitoring one or more forces and one or more moments associated with the insertion force, wherein the monitored forces and moments are measured by one or more load cells of the robot system
Data Source
AI summary
Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.