Surgical Tool Skive Detection with 3D Bone Trajectory Mapping
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Solution Overview
Problem
Surgical tools often undesirably slip out of the target location during procedures, leading to inaccurate implant placement and potential harm to patients, which can result from poor planning or excessive force.
Innovation Solution
A system using a sensor to measure force on a surgical tool, a processor to project a tool trajectory onto a 3D bone model, and predict skive probability based on expected normal force direction and magnitude, with alerts generated when excessive forces are detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual or robot-assisted surgical procedures are used to drill or cut into anatomical elements, then surgical procedures can be performed, but tool skiving (undesired slippage out of target location) may occur leading to inaccurate implant placement
Solution Approach 1:
The system performs preliminary actions by projecting the tool trajectory onto a 3D model of bone tissue before the actual surgical procedure, estimating the expected normal force direction and magnitude in advance, and calculating skive probability beforehand. This allows the surgeon to be alerted to potential skiving risks before they occur, enabling corrective actions to be taken in advance to maintain tool position stability and implant placement accuracy.
Solution Approach 2:
The system implements feedback by continuously monitoring forces exerted on the surgical tool during the procedure, comparing detected force magnitudes against expected values, and generating alerts when deviations indicate potential skiving. This real-time feedback loop enables the surgeon to adjust tool positioning dynamically, maintaining both tool position stability and implant placement accuracy throughout the surgical procedure.
2Reliability
If force is exerted on the surgical tool to maintain position, then tool stability can be improved, but excessive force may cause tool skiving
Solution Approach 1:
The system monitors changes in force parameters (magnitude and direction) exerted on the surgical tool during the procedure. By detecting deviations from expected force parameters, the system can identify when excessive force is being applied that may lead to skiving, and alert the surgeon to adjust the force parameters to maintain stable tool positioning without causing slippage.
Solution Approach 2:
The system applies preliminary anti-action by predicting skive probability based on the planned tool trajectory and expected force characteristics before the procedure begins. This allows the surgeon to be warned of potential skiving risks in advance and adjust the approach to prevent excessive force application that could cause tool slippage, thereby maintaining tool position stability without inducing harmful skiving effects.
3Reliability
If real-time force monitoring and skive prediction systems are implemented, then tool skiving can be detected and prevented, but device complexity increases
Solution Approach 1:
The system achieves multi-functionality by using a single integrated platform that performs multiple tasks: projecting tool trajectories onto 3D bone models, estimating expected force characteristics, calculating skive probability, monitoring real-time forces, and generating alerts. This universal system consolidates what could be multiple separate devices into one cohesive unit, reducing overall system complexity while maintaining high skive detection accuracy.
Solution Approach 2:
The system employs self-service by utilizing the surgical robot's existing control and sensing infrastructure to perform skive detection and prediction functions. Rather than requiring entirely separate monitoring equipment, the system leverages the robot's own sensors and processors to monitor forces and predict skiving risks, thereby minimizing additional device complexity while achieving reliable skive detection.
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
Enables detection and prevention of tool skiving, ensuring accurate surgical procedures by alerting surgeons to reposition tools before continuing, thereby reducing the risk of incorrect implant placement and patient harm.
Implementation Method 1
a sensor configured to measure a force exerted on a surgical tool
Data Source
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AI summary
A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.