Surgical Robot Cartesian Motion to Limit Joint Positioning Error
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Solution Overview
Problem
Current surgical robots using articular arm systems are prone to errors due to increased error accumulation at each joint, making precise localization of surgical instruments within the body challenging.
Innovation Solution
A surgical robot utilizing a Cartesian positioning system that allows independent control of movement along the x-axis, y-axis, and z-axis, with optional roll, pitch, and yaw rotation of the end-effectuator and surgical instrument, coupled with a surveillance marker system to maintain tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm system with rotational joints is used, then the robot can achieve multi-degree-of-freedom movement, but error accumulation increases at each joint reducing positioning accuracy
Solution Approach 1:
The robot arm is divided into multiple independent linear actuators (x-axis, y-axis, z-axis) that move independently along orthogonal directions. Each actuator controls movement along a single axis without rotational joints, eliminating error accumulation while maintaining multi-degree-of-freedom capability through Cartesian coordinate system decomposition.
2Measurement precision
If a Cartesian positioning system is used, then positioning accuracy is improved by eliminating rotational joint errors, but the device complexity increases with additional linear actuators and control systems
Solution Approach 1:
The control system integrates multiple functions into unified modules: the control device simultaneously manages all three linear actuators, coordinates end-effectuator rotations, and processes surveillance marker data. This multi-functionality approach reduces overall system complexity despite the Cartesian configuration's inherent complexity.
Solution Approach 2:
Surveillance markers serve as intermediaries between the physical robot system and the control system. These markers provide continuous position feedback without requiring complex sensors on each actuator, simplifying the control architecture while maintaining high positioning accuracy through optical tracking.
3Adaptability or versatility
If roll, pitch, and yaw rotation of the end-effectuator is added, then the ability to orient the surgical instrument is improved, but error accumulation may increase
Solution Approach 1:
The end-effectuator's orientation control is segmented into three independent rotational degrees of freedom (roll about x-axis, pitch about y-axis, yaw about z-axis). Each rotation is controlled independently by dedicated actuators, allowing precise orientation adjustment without the error accumulation that would occur in a serial rotational mechanism.
Data Source
AI summary
A medical robot system, including a robot coupled to an end effector element with the robot configured for controlled movement and positioning. The robot system includes a robot base having a display, a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base. The end-effector is coupled to the robot arm, containing one or more end-effector tracking markers. The system also includes a plurality of dynamic reference bases (DRB) attached to multiple patient fixture instruments, wherein the plurality of dynamic reference bases include one or more tracking markers indicating a position of the patient fixture instrument in a navigational space. The system also includes a first camera system and a second camera system, the first and second camera systems being able to detect a plurality of tracking markers.