Robotic Surgical Tool Recovery Alignment After Intraoperative Interruptions
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Solution Overview
Problem
Current robotically-assisted surgical systems face challenges in accurately and efficiently realigning surgical tools to virtual geometries after interruptions or deviations during bone preparation procedures in orthopedic surgeries.
Innovation Solution
The method involves defining a virtual geometry associated with a planned resection, determining the first pose of a surgical tool, defining a target orientation based on the first pose, and controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation, thereby ensuring precise realignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual realignment of surgical tools is performed after interruptions, then alignment accuracy can be achieved, but surgical operation time increases significantly
Solution Approach 1:
The system pre-calculates and stores recovery alignment information (target pose, orientation, and path) before interruptions occur during bone preparation. When interruptions happen, the system retrieves this pre-prepared alignment data and automatically executes the realignment, eliminating the need for time-consuming manual realignment procedures while maintaining high alignment accuracy
Solution Approach 2:
The patent replaces manual mechanical realignment operations with an automated robotic system that uses pre-calculated alignment paths and automated control algorithms. The robotic device automatically adjusts the surgical tool's position and orientation based on stored recovery alignment data, substituting human operator actions with automated mechanical systems to reduce time loss
2Productivity
If automated realignment systems are implemented, then surgical operation time is reduced, but system complexity increases
Solution Approach 1:
The system performs preliminary calculations of recovery alignment parameters (target pose, orientation, and movement path) before interruptions occur. This pre-computation stores all necessary realignment information in advance, simplifying the post-interruption process to merely retrieving and executing pre-prepared data, thereby reducing real-time computational complexity
Solution Approach 2:
The system creates and stores virtual copies of the surgical plan and alignment parameters in a digital model before interruptions. These virtual representations contain all necessary geometric and positional information needed for recovery alignment, allowing the system to reference pre-existing digital models rather than performing complex real-time calculations
3Ease of operation
If the surgical tool is moved away from the virtual geometry during interruptions, then manual intervention is required, but this causes deviation from the planned resection
Solution Approach 1:
The system continuously monitors the surgical tool's position relative to the virtual geometry and automatically detects when deviations occur during interruptions. Upon detecting the tool has moved away from the planned path, the system activates recovery alignment mode, which automatically guides the tool back to the virtual geometry using pre-calculated alignment paths, ensuring the resumption of accurate resection without permanent deviation
Data Source
AI summary
A method of operation of a robotically-assisted surgical system includes capturing a first pose of a surgical tool during the operation of the robotically-assisted surgical system, intraoperatively defining a target orientation for the surgical tool using the first pose of the surgical tool, and controlling a robotic device to automatically move the surgical tool to the target orientation.