Camera-Tracked Surgical Robot Positioning for Precise Bone Cuts
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Solution Overview
Problem
Conventional surgical robot systems face challenges in accurately positioning and stabilizing the robotic arm during surgeries due to limited visibility and difficulty in controlling the saw, leading to inaccurate bone cuts and increased risk of complications.
Innovation Solution
A surgical robot system that determines optimal positions and dynamically updates the path of the robotic arm using a camera tracking system to prevent collisions and improve stability, thereby enhancing precision and reducing the need for repositioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a passive kinematics guidance structure is used to constrain the saw blade, then the blade can be constrained in its resection plane, but the robotic arm has a limited range requiring the guidance structure to be repositioned based on patient anatomy
Solution Approach 1:
The system transitions from a static, fixed-position guidance structure to a dynamic, mobile robotic arm that can continuously adjust its position and orientation. The robotic arm with multiple degrees of freedom allows real-time adaptation to different anatomical configurations while maintaining precise blade constraint through active control systems.
Solution Approach 2:
The robotic arm is designed as a multi-functional platform that combines guidance, positioning, and stabilization capabilities in a single system. It can adapt to various surgical scenarios and patient anatomies without requiring separate specialized structures, replacing multiple fixed guidance structures with one versatile robotic system.
2Adaptability or versatility
If the surgical robot station is repositioned multiple times during surgery to accommodate robotic arm range limits, then the full anatomical coverage can be achieved, but the surgery time increases
Solution Approach 1:
The robotic arm's dynamic positioning capability with multiple degrees of freedom allows it to reach various anatomical locations without requiring physical repositioning of the entire surgical robot station. The system maintains a stable base while the robotic arm dynamically adjusts its configuration to access different surgical sites.
Solution Approach 2:
The system adds dimensional freedom through a multi-axis robotic arm mechanism, transforming a two-dimensional planar guidance structure into a three-dimensional spatially versatile platform. This enables the robotic arm to access anatomical locations in multiple directions and planes simultaneously, eliminating the need for repositioning.
3Adaptability or versatility
If the surgeon manually controls the saw during cutting, then flexibility in handling complex anatomies is improved, but visibility limitations and control difficulty increase the risk of cutting undesired bone or tissue
Solution Approach 1:
The robotic arm serves as an intermediary between the surgeon's control inputs and the actual saw blade operation. It provides a stable, precisely controlled platform that mediates between manual control flexibility and automated positioning accuracy, reducing human error while maintaining adaptability through programmable motion control.
Solution Approach 2:
The system incorporates feedback mechanisms that continuously monitor the saw blade position, orientation, and contact forces with the bone. This real-time feedback allows the control system to make automatic adjustments, ensuring the blade remains constrained to the planned resection plane even when handling complex anatomical variations.
Data Source
AI summary
A surgical robot system can determine a plurality of actions to be completed by a surgical robot station during a surgery. The surgical robot system can determine potential positions in an operating room that the surgical robot station can be positioned during the surgery. The surgical robot system generates a score associated with the determined positions and determines an optimal position of the surgical robot station for display based on the generated scores.