Cartesian Surgical Robot Using RF Time-of-Flight Tracking
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Solution Overview
Problem
Current robotic assistance in surgical procedures is error-prone and tedious due to the use of articular systems with rotational joints, which complicates precise localization of surgical instruments within complex bone structures, and lacks efficient tracking and positioning methods.
Innovation Solution
A surgical robot employing a Cartesian positioning system with linear motors for precise control on x, y, and z axes, combined with RF transmitters and receivers for real-time position determination and feedback, allowing for accurate movement and alignment of surgical instruments within the body without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular positioning system with rotational joints is used, then the robot can achieve multi-axis movement, but the error accumulates over each joint reducing positioning precision
Solution Approach 1:
The patent replaces the mechanical articular positioning system with a Cartesian positioning system that uses three linear motors to move the end effector along x, y, and z axes. This substitution eliminates rotational joints and their associated error accumulation, achieving both multi-axis movement capability and high positioning precision through direct linear actuation.
2Ease of operation
If manual positioning of surgical instruments is used, then the surgeon can directly control the instrument, but the process is tedious and time-consuming
Solution Approach 1:
The surgical robot performs self-positioning and self-alignment using the Cartesian positioning system and RF tracking. The system automatically determines the position of the end effector and adjusts it to match the desired trajectory, eliminating the need for manual positioning by the surgeon and significantly reducing procedural time.
Solution Approach 2:
The system uses RF transmitters and receivers to continuously track the position of the end effector in real-time. This feedback is processed by the control device, which automatically adjusts the linear motors to maintain precise positioning and alignment, enabling autonomous operation without manual intervention.
3Extent of automation
If conventional robotic systems are used, then automated assistance is provided, but the setup is cumbersome and expensive
Solution Approach 1:
The patent divides the robotic system into modular components: three independent linear motors for Cartesian movement, separate RF transmitters and receivers for tracking, and a control device for processing. This segmentation allows for simpler individual components that can be independently positioned and configured, reducing overall setup complexity compared to integrated conventional systems.
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
This solution enables precise and accurate positioning of surgical instruments, reducing human error and improving the efficiency of procedures like vertebrae fusion and pedicle screw insertion by providing real-time tracking and automatic adjustment, thus enhancing surgical precision and reducing procedural complexity.
Implementation Method 1
time of flight measurements of radio frequency ('RF') signals that are emitted from inside a patient and that are received by at least three RF receivers
Data Source
AI summary
A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.