Cartesian Surgical Robot Positioning With RF 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 separate motors for x-, y-, and z-axis movement, combined with RF transmitters and receivers for precise localization, allowing for real-time adjustment and alignment of surgical instruments, and optionally incorporating a beveled or non-beveled end-effectuator for tissue penetration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm system is used in surgical robots, then the robot can achieve complex positioning, but the error accumulates over each joint making the system error-prone
Solution Approach 1:
The patent replaces the traditional articular arm mechanical system with a Cartesian positioning system that uses three linear motors to move the surgical instrument along x, y, and z axes. This substitution eliminates the error accumulation problem inherent in multi-joint articular systems while maintaining the capability to achieve complex positioning through coordinated linear movements along perpendicular axes.
Solution Approach 2:
The patent divides the positioning system into three independent linear motion segments (x-axis, y-axis, and z-axis), each controlled by a separate linear motor. This segmentation allows each axis to be controlled independently with high precision, avoiding the error propagation that occurs when multiple rotational joints are chained together in an articular arm system.
2Ease of operation
If manual positioning is used by the surgeon, then flexibility is maintained, but the process is tedious and time-consuming
Solution Approach 1:
The system incorporates RF transmitters and receivers that automatically track and determine the real-time position of the surgical instrument. This self-service positioning capability eliminates the need for manual positioning efforts by the surgeon, automatically providing precise location data without requiring tedious manual adjustments or time-consuming alignment procedures.
Solution Approach 2:
The patent implements a feedback system using RF transmitters mounted on the surgical instrument and corresponding receivers that continuously monitor and provide real-time position information. This feedback loop enables automatic position determination and allows the system to maintain accurate localization without requiring continuous manual intervention or time-consuming repositioning by the surgeon.
3Extent of automation
If conventional surgical robots are used, then robotic assistance is provided, but the setup is cumbersome and the system is expensive
Solution Approach 1:
The patent replaces complex mechanical positioning mechanisms with a Cartesian system using three linear motors along perpendicular axes. This simplification reduces the mechanical complexity and setup requirements compared to traditional articular arm robots, while maintaining robotic assistance for precise instrument positioning and movement control throughout the surgical procedure.
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 accurate, automated instrument positioning and alignment, enabling procedures like epidural injections without x-rays and maintaining alignment during patient movement.
Implementation Method 1
at least one RF transmitter can be mounted on the effectuator element and/or the surgical instrument. Three or more RF receivers can be mounted in the vicinity of the surgical robot. The location of the RF transmitter and, therefore, the surgical instrument, can be accurately determined by analyzing the RF signals that are emitted from the RF transmitter.
Implementation Method 2
a motor assembly comprising three linear motors that separately control movement of the effectuator element and/or surgical instrument on the respective x-, y- and z-axes
Implementation Method 3
a robot arm coupled to and configured for articulation relative to the base
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.