End Effector Alignment Through Trajectory Selection Zones
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Solution Overview
Problem
Current robotic systems for surgical procedures lack an ergonomic and surgeon-friendly method for selecting and aligning haptic objects for tool positioning, particularly in complex anatomical environments.
Innovation Solution
A surgical system incorporating a robotic arm, navigation system, and controllers that enable free and automatic modes of operation, allowing for the selection and alignment of end effectors with target trajectories or haptic objects using trajectory selection zones, haptic feedback, and input devices for precise tool positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic system uses manual selection methods for haptic objects, then the surgeon has full control over tool positioning, but the alignment process becomes time-consuming and less precise
Solution Approach 1:
The system enables self-service alignment by automatically selecting and aligning the end effector with the haptic object based on pre-defined criteria and trajectory selection zones, eliminating the need for manual alignment adjustments while maintaining precision
Solution Approach 2:
The system performs preliminary actions by pre-defining trajectory selection zones and alignment criteria before the surgical procedure, allowing the robotic system to automatically execute precise alignment without time-consuming manual adjustments during the procedure
2Speed
If the robotic system operates in automatic mode, then alignment speed increases, but the surgeon loses direct control over the alignment process
Solution Approach 1:
The system implements dynamic operation modes that allow the surgeon to switch between manual and automatic alignment based on the specific surgical requirements, providing flexibility and adaptability while maintaining both speed and control
Solution Approach 2:
The system provides real-time feedback to the surgeon during automatic alignment operations, allowing the surgeon to monitor and adjust the alignment process as needed, thus maintaining control while benefiting from automated speed
3Measurement precision
If the system uses complex alignment algorithms, then alignment precision improves, but the system complexity increases
Solution Approach 1:
The system introduces trajectory selection zones as an intermediary concept that simplifies the alignment process by breaking down complex alignment algorithms into manageable spatial zones, making the system more user-friendly while maintaining precision
Solution Approach 2:
The system segments the alignment process into distinct phases (approach, selection, alignment) with specific criteria for each phase, making the complex algorithm more manageable and easier to implement while maintaining measurement precision
Data Source
AI summary
A surgical system is provided. The surgical system includes a robotic arm, a navigation system, and one or more controllers. The robotic arm includes a plurality of links and joints and is configured to support an end effector. The navigation system is configured to track a pose of an anatomy of a patient. The one or more controllers are configured to associate a target trajectory with the anatomy of the patient, define a trajectory selection zone associated with the target trajectory, operate the robotic arm in a free mode, whereby the robotic arm is freely moveable, responsive to the end effector being within the trajectory selection zone in the free mode, automatically select the target trajectory associated with the trajectory selection zone, and operate the robotic arm in an automatic mode, whereby the robotic arm is automatically moved to align the end effector with the target trajectory.