Euler Robot Parallelogram Mechanism for Medical Probe Positioning
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Solution Overview
Problem
Current robotic systems for medical image scanning and image-guided procedures, such as prostate cancer treatment, face challenges in providing stable 3-D image reconstruction, precise needle placement, and adaptability for both transrectal and transperineal access due to limitations in motion capabilities and compatibility with minimally invasive surgical systems.
Innovation Solution
A remote center of motion robot, referred to as the Euler robot, utilizing a parallelogram structure with belt-driven mechanisms and driver modules for 3-D ultrasound scanning, enabling automated motion and precise positioning of ultrasound probes for enhanced image-guided targeting and biopsy procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual operation of TRUS probe is used, then ease of operation is improved, but image stability and probe position data accuracy deteriorate
Solution Approach 1:
The robotic system autonomously positions and tracks the TRUS probe without requiring continuous manual intervention. The system self-regulates probe positioning through automated control algorithms that maintain stable imaging conditions while recording precise position data, eliminating the trade-off between manual ease of operation and measurement precision.
Solution Approach 2:
The patent replaces manual mechanical probe manipulation with an automated robotic system that uses sensors, actuators, and control systems to position and track the probe. This substitution of mechanical manual operation with automated control systems simultaneously improves measurement precision while maintaining operational ease through programmatic control.
2Measurement precision
If TRUS system is made larger to improve imaging capability, then measurement precision is improved, but adaptability to robotically-assisted minimally invasive surgical systems deteriorates
Solution Approach 1:
The TRUS system is divided into separate functional modules: the imaging probe, the robotic positioning system, and the control unit. This segmentation allows the imaging components to be optimized for precision while the robotic interface remains compact and adaptable to minimally invasive surgical systems, resolving the contradiction between imaging capability and system adaptability.
Solution Approach 2:
The robotic system is designed with universal interfaces and standardized mounting mechanisms that allow the TRUS probe to be integrated with various robotically-assisted minimally invasive surgical systems. The system can adapt to different surgical platforms while maintaining high imaging precision, achieving both measurement precision and versatility.
3Ease of operation
If robotic system handles needle rather than probe, then ease of operation for needle intervention is improved, but adaptability for TRUS-guided LRP and brachytherapy deteriorates
Solution Approach 1:
The robotic system is designed with multi-functional end-effectors that can handle both probes and needles. The system can switch between different surgical tasks including TRUS-guided LRP, brachytherapy, and needle interventions by changing the attached tool, thereby achieving versatility across different procedures while maintaining ease of operation for each specific task.
Solution Approach 2:
The robotic system employs dynamic reconfiguration capabilities where the end-effector can be changed or adjusted during procedures. This allows the system to adapt its handling capabilities from probe manipulation to needle intervention as needed, providing both ease of operation for specific tasks and broad adaptability across different surgical procedures.
Data Source
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AI summary
The present invention pertains to a remote center of motion robot for medical image scanning and image-guided targeting, hereinafter referred to as the "Euler" robot. The Euler robot allows for ultrasound scanning for 3-Dimensional (3-D) image reconstruction and enables a variety of robot-assisted image-guided procedures, such as needle biopsy, percutaneous therapy delivery, image-guided navigation, and facilitates image-fusion with other imaging modalities. The Euler robot can also be used with other handheld medical imaging probes, such as gamma cameras for nuclear imaging, or for targeted delivery of therapy such as high-intensity focused ultrasound (HIFU). 3-D ultrasound probes may also be used with the Euler robot to provide automated image-based targeting for biopsy or therapy delivery. In addition, the Euler robot enables the application of special motion-based imaging modalities, such as ultrasound elastography.