Collaborative Robot Arm for Non-Planar X-Ray Source Positioning
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Solution Overview
Problem
Conventional mammography devices have limited degrees of freedom in moving the x-ray source, leading to suboptimal trajectories that cause ergonomic issues for patients, limit physician access, and increase the risk of collisions between the x-ray source and biopsy devices, resulting in less precise and more time-consuming examinations.
Innovation Solution
A mammography device equipped with a collaborative robot arm that provides multiple degrees of freedom, allowing the x-ray source to move along non-planar trajectories, avoiding collisions and optimizing the screening process by dynamically adjusting to the patient's position and environment, and integrating a mobile platform and auxiliary robot arms for enhanced maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the x-ray source is moved along a predetermined planar path defined by the mammograph architecture, then the device structure is simple and mechanically stable, but the trajectory is suboptimal causing ergonomic issues for patients and limiting physician access
Solution Approach 1:
The mammograph system is divided into independent modules: the arm assembly that moves the x-ray source is separated from the console, allowing the arm to follow optimized non-planar trajectories while the console remains stationary. This segmentation enables independent optimization of each component's function.
Solution Approach 2:
The arm assembly is designed with multiple degrees of freedom and dynamic positioning capabilities, allowing it to move along optimized non-planar trajectories rather than fixed planar paths. This dynamic movement improves patient comfort and physician access while maintaining mechanical stability through controlled motion.
2Ease of operation
If the arm is moved to predefined parking positions using a parking button, then the device operation is simplified, but the physician access to the patient's breast is limited and collision risk with biopsy devices increases
Solution Approach 1:
The control system incorporates feedback mechanisms that monitor the real-time position of the arm assembly and the status of biopsy devices. This feedback enables the system to dynamically adjust arm positioning to avoid collisions while maintaining easy operation through automated conflict resolution.
Solution Approach 2:
The arm assembly operates in three-dimensional space with multiple degrees of freedom, allowing it to navigate around biopsy devices and achieve parking positions that do not block physician access. This multi-dimensional movement capability resolves the conflict between automated positioning and manual access requirements.
3Device complexity
If the mammograph uses conventional mechanical coupling between the arm and console, then the device structure is simple, but the trajectories are planar and cause collisions with biopsy devices
Solution Approach 1:
The mechanical coupling between the arm and console is segmented or eliminated, allowing the arm assembly to move independently along three-dimensional trajectories. This independence enables the arm to navigate around biopsy devices without collision while maintaining a relatively simple overall device structure.
4Device complexity
If the physician mentally superimposes the mammograph image over the breast for lesion localization, then no additional devices are needed, but the localization precision is poor and time-consuming
Solution Approach 1:
The system introduces an auxiliary arm equipped with imaging devices such as ultrasound probes or optical cameras as an intermediary tool. This auxiliary arm provides real-time visual feedback and precise localization capabilities, enhancing the physician's ability to accurately identify and access lesions without adding significant complexity to the core mammograph system.
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
The solution enables easier displacement of the gantry, increased workspace around the breast, and optimized screening and interventional procedures, allowing for more precise and efficient imaging with reduced artifacts and improved patient comfort.
Implementation Method 1
at least one x-ray source and a console which is arranged opposite said source and intended to receive and support the patient's breast. This console integrates a detector for detecting the x-rays after they have passed through the patient's breast
Data Source
AI summary
A device and a related mammography method employing the device are described. The device comprises an x-ray source, an x-ray detector placed under a support plate for supporting an object and arranged to detect the x-rays coming from the x-ray source after they have passed through the object, and a positioning assembly with an arm having multiple degrees of freedom which is a collaborative robot for positioning the x-ray source with respect to the support plate. A method for performing an imaging procedure, which includes placing an object of interest on the support plate; moving the x-ray source relative to the object of interest along a non-planar trajectory to avoid collision with the object; and activating the x-ray source and the x-ray detector so as to detect the x-rays coming from the x-ray source after they have passed through the object, thus obtaining a set of x-ray images.