Flexible Actuation Transmission Line for MRI-Guided Surgery
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Solution Overview
Problem
Current robotic systems for minimally invasive surgeries face challenges in precisely guiding surgical instruments within confined spaces, especially when using MRI for real-time position monitoring, as they must operate within the constraints of an MRI scanner and large magnetic fields, limiting their ability to perform complex surgeries effectively.
Innovation Solution
A flexible actuation transmission line with solid media inside, which can bend to accommodate confined spaces, and includes mechanisms for precise control using pistons, gearing, and sensors to enhance movement control and alignment, allowing for fine-tuned movement of surgical instruments within MRI environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system operates within an MRI scanner for real-time position monitoring, then real-time image guidance is achieved, but the system is constrained by the MRI scanner's space limitations and large magnetic fields
Solution Approach 1:
The patent employs a flexible robotic manipulator with a slender, cable-driven structure that can bend and navigate through confined spaces within the MRI scanner bore. The flexible design allows the robot to adapt to the constrained geometry of the MRI environment while maintaining dexterity for complex surgical tasks
Solution Approach 2:
The patent replaces traditional mechanical actuation systems with a cable-driven mechanism that uses tensioned cables to control the robotic manipulator. This substitution reduces the mechanical complexity and size of the system, enabling it to operate within the limited space of an MRI scanner while maintaining precise control capabilities
2Ease of operation
If a robotic manipulator is designed for dexterity in confined spaces, then it can navigate complex surgical paths, but achieving precise control and alignment becomes more difficult
Solution Approach 1:
The patent incorporates real-time feedback from MRI imaging to continuously monitor the position and orientation of the robotic manipulator and surgical instruments. This feedback is used to update the control system, enabling closed-loop control that compensates for deviations and maintains precise alignment despite the flexible, navigating nature of the manipulator
Solution Approach 2:
The patent employs a universal coordinate system and transformation framework that allows the control system to handle multiple degrees of freedom and complex spatial transformations. This universal approach enables precise control and alignment across different segments of the flexible manipulator and various surgical instruments
Data Source
AI summary
Provided herein are actuation transmission lines used for robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical and medical intervention procedures. This actuation transmission lines may include any of the following: one or more sections of a flexible channel; one or more sections of a rigid channel in a connecting relationship with the one or more sections of a flexible channel; solid media disposed inside the channel; one or more mechanical links in contact with the solid media inside the channel electronically or mechanically linked to a power source; a fine-tuning module disposed in the flexible channel; and one or more media motion sensors.