Robotic Vertebral Screw Alignment With Force-Limited Rod Engagement
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Solution Overview
Problem
Current spinal surgeries require manual manipulation of vertebral screws and rods, which can lead to unintended breakage of pedicles, under/over-correction, and prolonged surgical times due to the lack of precise force measurement and alignment control.
Innovation Solution
A robotic system with multiple arms and sensors is used to manipulate vertebral screws and rods, measuring forces and aligning them within predetermined thresholds to ensure accurate engagement with spinal rods, reducing manual labor and improving precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual manipulation of vertebral screws and rods is used, then surgical flexibility is maintained, but precision of alignment and force control deteriorates
Solution Approach 1:
A robotic system acts as an intermediary between the surgeon's intent and the physical manipulation of spinal implants. The robotic arms with integrated sensors and navigation systems provide precise force measurement and alignment control, eliminating the imprecision of manual manipulation while maintaining surgical flexibility through programmable motion paths and real-time adjustment capabilities.
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated robotic system that uses computer-controlled actuators, force sensors, and navigation algorithms. This substitution transforms the mechanical interaction from human-dependent to system-dependent, achieving sub-millimeter alignment precision and real-time force monitoring that cannot be reliably achieved manually.
2Reliability
If manual manipulation of vertebral screws and rods is used, then surgical time is reduced, but risk of pedicle breakage increases
Solution Approach 1:
The robotic system incorporates real-time feedback through force sensors that continuously monitor the forces applied during screw and rod manipulation. This feedback loop allows the system to detect approaching force thresholds that could cause pedicle breakage and automatically adjust or halt manipulation, providing a safety mechanism that prevents catastrophic failures while maintaining efficient surgical progression.
Solution Approach 2:
The system performs preliminary planning and simulation before actual manipulation, pre-calculating optimal force vectors, motion paths, and engagement sequences. This preliminary action allows the surgeon to review and approve the planned trajectory and force application strategy before execution, preventing errors before they occur and reducing the need for corrective maneuvers that extend surgical time.
3Measurement precision
If robotic manipulation with force sensors is used, then force control precision is improved, but device complexity increases
Solution Approach 1:
The robotic system is designed with multi-functionality, where a single integrated platform performs navigation, force measurement, real-time simulation, and controlled manipulation. The force sensors are embedded within the robotic end-effectors, combining measurement and actuation functions in one component, reducing the need for separate specialized devices and simplifying the overall system architecture despite the advanced capabilities provided.
Data Source
AI summary
A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.