Cartesian Surgical Robot Positioning to Reduce Joint Errors
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Solution Overview
Problem
Current surgical robots using articular arm systems are prone to errors due to increased inaccuracies 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 based on a series of rotational joints is used, then the robot can achieve multi-degree-of-freedom movement, but the localization accuracy deteriorates due to error accumulation at each joint
Solution Approach 1:
The patent segments the error sources by separating the articular arm from the surgical instrument positioning system. Instead of using a continuous chain of rotational joints, the system divides movement into independent linear translations along Cartesian axes, with each axis controlled separately, thereby preventing error accumulation across multiple joints.
Solution Approach 2:
The patent replaces the mechanical articular arm system with a Cartesian positioning system that uses independent linear actuators for each axis. This substitution eliminates the compound mechanical joints and their associated rotational errors, achieving more accurate instrument localization while maintaining multi-degree-of-freedom capability.
2Measurement precision
If a Cartesian positioning system is used, then localization accuracy is improved by eliminating joint error accumulation, but device complexity increases due to independent control of x-axis, y-axis, and z-axis
Solution Approach 1:
The patent implements a universal control architecture that manages all three Cartesian axes through a single integrated control system. The control device coordinates x-axis, y-axis, and z-axis movements together, allowing the system to handle complex multi-axis positioning tasks while maintaining manageable complexity through unified control logic.
Solution Approach 2:
The patent introduces a control device as an intermediary between the operator and the Cartesian positioning system. This intermediary processes positioning commands, coordinates movements across all three axes, and manages the complexity of independent axis control, thereby simplifying the overall system operation while maintaining high localization accuracy.
3Measurement precision
If roll, pitch, and yaw rotation of the end-effectuator is controlled, then orientation precision is improved, but device complexity increases
Solution Approach 1:
The patent merges the orientation control functions (roll, pitch, and yaw) into the end-effectuator assembly itself. By integrating these rotational capabilities directly at the instrument interface rather than through separate mechanical joints in the arm structure, the system achieves precise orientation control while minimizing overall device complexity.
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.