Cartesian Surgical Robot Positioning for Accurate Instrument Localization
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Solution Overview
Problem
Current surgical robots are error-prone and cumbersome, particularly in procedures requiring precise localization of surgical instruments due to their reliance on articular arm systems and lack of accurate positioning, leading to inefficiencies and increased manual effort.
Innovation Solution
A surgical robot utilizing a Cartesian positioning system with independent control over x-, y-, and z-axes, combined with RF transmitters and receivers for precise localization, allowing for accurate movement and alignment of surgical instruments without mechanical deflection, and the ability to adjust to patient movement during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm system is used for surgical robot positioning, then the robot can achieve multi-axis movement capability, but the error level increases over each joint leading to reduced positioning accuracy
Solution Approach 1:
The positioning system is divided into independent linear motion modules along x, y, and z axes, with each axis controlled by separate linear motors. This segmentation eliminates the cumulative error problem of serial articular joints while maintaining multi-axis movement capability through coordinated control of independent linear modules.
Solution Approach 2:
The traditional mechanical articular arm system is replaced with a Cartesian positioning system using linear motors and guide rails. This substitution eliminates mechanical joint errors and backslash while providing precise positioning through direct linear actuation along three orthogonal axes.
2Ease of operation
If manual positioning methods are used for surgical instruments, then the surgeon can directly control the instrument position, but the process becomes tedious and time-consuming with dependence on surgeon dexterity
Solution Approach 1:
The surgical robot autonomously positions and maintains the surgical instrument at the predetermined target location based on pre-operative planning data. The system self-corrects for patient movement using real-time imaging feedback, eliminating the need for continuous manual adjustment while maintaining precise positioning throughout the procedure.
Solution Approach 2:
Real-time imaging systems provide feedback on the actual position of the surgical instrument and patient anatomy, which is fed back to the control system. This closed-loop feedback enables automatic correction of positioning deviations caused by patient movement or surgical conditions, maintaining accuracy without manual intervention.
3Extent of automation
If conventional surgical robots are used for precise procedures like pedicle screw insertion, then the system can provide robotic assistance, but the system becomes expensive, obtrusive, and error-prone
Solution Approach 1:
The complex mechanical articular arm system is replaced with a simplified Cartesian positioning system using linear motors and rigid guide rails. This substitution reduces mechanical failure points, eliminates cumulative joint errors, and provides more reliable positioning while reducing system complexity and cost.
Solution Approach 2:
The surgical robot system is designed to perform multiple surgical procedures including pedicle screw insertion, tumor resection, and other spine surgeries using the same Cartesian positioning platform. This multi-functionality reduces the need for procedure-specific robotic systems, lowering overall cost while maintaining high reliability through a proven universal platform.
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
Enhances surgical precision and reduces human error by providing real-time, accurate positioning of surgical instruments, enabling procedures like pedicle screw insertion with minimal manual intervention and reduced mechanical forces.
Implementation Method 1
by measuring the time of flight of the RF signal from the transmitter to the RF receivers that are positioned at known locations, the position of the end-effectuator element with respect to a patient can be determined
Data Source
AI summary
A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.