Robotic Anatomical Motion Tracking for Tool Trajectory Compensation

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Solution Overview

Problem

Surgical procedures using robotic systems face inaccuracies due to undesired motion of anatomical elements caused by forces and torques exerted during procedures, leading to potential skiving and damage to patient anatomy.

Innovation Solution

A system utilizing two robotic arms, where one arm secures and senses forces/torques on anatomical elements, allowing for continuous monitoring and compensation for undesired motion, adjusting tool trajectories and applying reactive forces to maintain accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If robotic arms exert forces and torques on anatomical elements during surgical procedures, then surgical tasks can be completed, but undesired motion and potential damage to patient anatomy occurs

Engineering Contradiction:

Improvesurgical task completionVSAvoidundesired motion and damage to anatomical elements

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system continuously monitors forces and torques exerted on anatomical elements through integrated sensors and provides real-time feedback to the control system. When undesired motion is detected, the system automatically adjusts or pauses robotic arm movements to prevent further damage, while allowing beneficial forces to be applied when needed for surgical tasks.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The robotic system dynamically adapts its operation by continuously adjusting the magnitude and direction of forces applied to anatomical elements based on real-time sensor data. The system can modulate robotic arm stiffness, apply counterbalancing forces, or adjust tool trajectories to maintain surgical effectiveness while minimizing harmful effects.

Inventive Principle:

Principle #15Dynamics

2Measurement precision

If traditional navigation systems use reference markers to track positions, then tracking is possible for markable components, but components unable to receive reference markers cannot be tracked

Engineering Contradiction:

Improveposition tracking accuracyVSAvoidtracking capability for all components

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The system replaces optical reference marker tracking with a mechanical sensing approach. Integrated sensors within the robotic arms directly measure forces, torques, and positions of anatomical elements through physical interaction, eliminating the need for external reference markers and enabling universal tracking of any component the robotic arm contacts.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robotic arm itself serves as an intermediary between the control system and the anatomical elements. Through its integrated sensors, the arm directly perceives the state of anatomical structures without requiring separate tracking markers, effectively mediating the measurement process for any component it interacts with.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Reliability

If internal sensors are integrated into robotic arms to detect forces and torques, then continuous monitoring of anatomical motion is enabled, but device complexity increases

Engineering Contradiction:

Improvecontinuous monitoring capabilityVSAvoidsensor integration complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The sensing capabilities are merged into the robotic arm structure itself, combining actuation and sensing functions in a single integrated system. The sensors are incorporated at critical locations within the arm mechanism, allowing the arm to simultaneously execute surgical tasks and monitor anatomical motion without requiring separate external sensing systems.

Inventive Principle:

Principle #5Merging (Combining)

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

Minimizes relative motion during surgical procedures, ensuring high accuracy and reducing unnecessary damage to patient anatomy by integrating internal sensors for precise anatomical tracking and compensation.

Implementation Method 1

The at least one sensor is configured to detect at least one force or torque exerted on the robotic arm by the anatomical element

Methodology Applied

Scientific EffectForce sensing: Force

Implementation Method 2

the at least one internal sensor comprises an encoder

Methodology Applied

Scientific EffectEncoder measurement:

Data Source

PatentUS20260033908A1Systems and methods for tracking anatomical motion

Publication Date: 2026.02.05 MAZOR ROBOTICS

AI summary

Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.