2D X-Ray Guided Surgical Robot for Accurate Drilling Without Trackers
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Solution Overview
Problem
Current surgical robots for drilling operations require optical tracking systems and preoperative or intraoperative 3D image data, leading to increased costs, iatrogenic injuries, and a need for extensive surgeon training, while alternative methods using visual servo technology have not been adopted due to differing workflows from conventional surgery.
Innovation Solution
A 2D image-guided surgical robot system that utilizes intraoperative X-ray images, eliminating the need for optical markers and CT scans, and employs image feedback control to guide drilling operations, allowing surgeons to follow conventional surgical thinking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking systems and preoperative or intraoperative 3D image data are used for navigation, then drilling accuracy is improved, but surgery cost increases significantly
Solution Approach 1:
The patent extracts and eliminates the optical tracking system and preoperative/intraoperative 3D imaging requirements from the surgical navigation process. By using only routine postoperative X-ray films for verification, the system removes the need for expensive CT scans and optical tracking infrastructure, thereby reducing surgery cost while maintaining drilling accuracy through conventional surgical skills and simple robotic assistance
Solution Approach 2:
The patent replaces expensive, complex navigation systems with a simple, low-cost approach using routinely available X-ray films. The robotic system provides basic positioning assistance without requiring sophisticated tracking infrastructure, effectively substituting costly equipment with inexpensive, widely accessible imaging resources
2Measurement precision
If trackers are mounted on surgical tools and patient's body for navigation, then drilling accuracy is improved, but iatrogenic injuries increase
Solution Approach 1:
The patent removes the requirement for mounting trackers on surgical tools and patient's body by eliminating optical tracking technology from the surgical workflow. Navigation and verification are achieved through routine X-ray imaging, which does not require invasive tracker placement, thereby preventing iatrogenic injuries while maintaining sufficient drilling accuracy
3Measurement precision
If absolute coordinate navigation systems are used, then drilling accuracy is improved, but surgeon training time increases
Solution Approach 1:
The patent inverts the conventional navigation approach by eliminating complex absolute coordinate systems and optical tracking requirements. Instead of requiring surgeons to adapt to new navigation paradigms, the system maintains conventional surgical workflows with simplified robotic positioning and verification using routine X-rays, allowing surgeons to operate with their existing skills and knowledge
Solution Approach 2:
The robotic system provides self-positioning capabilities without requiring complex setup procedures or specialized surgeon training. The system automatically determines its position relative to the patient's anatomy using simple X-ray images, eliminating the need for surgeons to learn and master complex navigation system operations
4Measurement precision
If optical tracking systems are implemented, then drilling accuracy is improved, but procedure complexity increases
Solution Approach 1:
The patent extracts and removes optical tracking systems, preoperative/intraoperative 3D imaging, and complex coordinate registration procedures from the surgical workflow. The simplified approach uses only routine postoperative X-ray films for verification, eliminating multiple complex steps and reducing overall procedure complexity while maintaining drilling accuracy
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
Reduces hardware requirements, eliminates iatrogenic injuries, and lowers costs by using common X-ray machines, while maintaining high accuracy and allowing surgeons to operate conventionally.
Implementation Method 1
X-ray image distortion correction device mounted on the surgical image acquisition device
Data Source
AI summary
A 2D image-guided surgical robot system for drilling operations includes surgical image acquisition equipment, robot positioning and drilling equipment, and a remote operation workstation. To perform a drilling operation, images of the surgery area are acquired with the image acquisition equipment and are registered to the robot, and a distortion correction is performed. A drilling path is assigned by a doctor through the GUI of the remote operation workstation, and the remote operation workstation calculates the robot motion quantity using a position-based method and moves the robot accordingly. Based on the relative position of the surgical tool and drilling path in the images, the remote operation workstation calculates a motion quantity using image feedback and controls the robot to make further fine adjustments to the drilling path. The robot then performs the drilling operation with an electric drill or holds a drill guide for doctors to perform the drilling manually.