Cartesian Surgical Robot Positioning With RF Instrument Tracking
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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 tedious and inefficient surgeries.
Innovation Solution
A surgical robot utilizing a Cartesian positioning system with separate linear motors for x-, y-, and z-axis control, 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 for patient movement during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm based on a series of rotational joints is used, then the robot can achieve multi-axis movement, but the level of error is increased over each joint making it 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 end-effectuator along x, y, and z axes. This substitution eliminates the cumulative error problem inherent in series of rotational joints while maintaining multi-axis movement capability. The linear motors provide direct, precise positioning without the error propagation that occurs in articular systems.
2Ease of operation
If manual positioning by surgeon is used, then flexibility in positioning is achieved, but the process is tedious and time-consuming
Solution Approach 1:
The system incorporates RF transmitters and receivers that automatically track and determine the location of the end-effectuator in real-time. This self-positioning capability eliminates the need for manual positioning by the surgeon, providing both automated precision and maintaining flexibility through programmable movement control. The RF tracking system continuously updates position data without requiring surgeon intervention.
3Extent of automation
If conventional surgical robots are used, then robotic assistance is provided, but the setup is cumbersome and expensive
Solution Approach 1:
The system segments the robotic assistance into modular components: a base, a robot arm with linear motors for Cartesian positioning, and an end-effectuator with RF transmitter. This segmentation allows for simplified setup compared to conventional integrated systems, while maintaining high levels of automation. Each component can be independently positioned and configured, reducing overall system complexity.
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
Enables precise and efficient surgical procedures with reduced human error, enabling accurate placement of surgical instruments and real-time adjustment to maintain alignment with anatomical targets, even when patient movement occurs.
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
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.
Implementation Method 3
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.
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.