Automated Arm Positioning for Stable Surgical Port Imaging
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Solution Overview
Problem
Intracranial surgical procedures face challenges due to incompatible optical imaging devices, poor image stabilization, and difficulties in tracking the access port's position and orientation, which hinder effective port-based navigation and imaging during medical procedures.
Innovation Solution
An intelligent positioning system that adaptively configures an automated arm to accurately position and orient an imaging device relative to a surgical port, using a detection system and control system to determine the desired position and orientation of the end effector based on the target's position and desired standoff distance, enabling precise alignment and tracking during medical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual alignment of imaging device to access port is used, then ease of operation is improved, but image stabilization deteriorates due to susceptibility to misalignment from knocking, agitation, or vibrations
Solution Approach 1:
The patent replaces manual mechanical alignment with an automated positioning system that uses sensors, processors, and actuators to automatically align and stabilize the imaging device relative to the access port, eliminating the instability caused by manual handling
Solution Approach 2:
The system performs self-alignment and self-stabilization through automated feedback control, where the positioning system continuously monitors and adjusts the imaging device position without requiring manual intervention, thereby maintaining stable alignment throughout the procedure
2Adaptability or versatility
If optical imaging devices are used for port-based procedures, then imaging capability is improved, but compatibility deteriorates due to poor field of view, magnification, and resolution
Solution Approach 1:
The patent optimizes imaging parameters including field of view angle, magnification level, and resolution settings to achieve compatibility with port-based procedures, adjusting these parameters to provide appropriate visualization despite the constrained access geometry
3Adaptability or versatility
If access port manipulation is required to access different brain areas, then adaptability is improved, but tracking precision deteriorates due to difficulty in maintaining spatial position and pose
Solution Approach 1:
The patent implements a feedback control system that continuously monitors the spatial position and pose of the access port using tracking devices, and automatically adjusts the imaging device positioning to maintain accurate alignment even when the access port is manipulated to access different brain areas
Data Source
AI summary
System and methods are provided for adaptively and intraoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.