Floating Patient Mount for Robotic Surgery Pose Synchronization
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Solution Overview
Problem
Robotic surgical systems face challenges with weight limitations and movement-related malfunctions when mounted to surgical tables, leading to inaccuracies and loss of synchronization in coordinate systems.
Innovation Solution
A robotic system with a floating patient mount, utilizing a mechanical arm and optical measurement devices to monitor patient movement and adjust the pose of robotic arms, ensuring accurate positioning and generating alerts for registration processes when displacement thresholds are exceeded.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robotic system is mounted on the surgical table, then the robot can be positioned stably, but weight limitations and synchronization issues occur when the patient moves
Solution Approach 1:
The system separates the robotic arm mounting base from the surgical table, creating an independent floating base that can move with the patient. This segmentation allows the robot to maintain accurate positioning relative to the patient's anatomy even when the patient moves on the table, resolving the contradiction between stable mounting and movement synchronization.
Solution Approach 2:
The system continuously monitors patient position and base position using measurement devices, and uses this feedback to dynamically adjust the robotic arm positions. This real-time feedback mechanism ensures the robot maintains accurate positioning relative to the patient's anatomy despite patient movement, solving the synchronization accuracy problem.
2Measurement precision
If the robot is mounted to a movable base separate from the surgical table, then synchronization accuracy improves during patient movement, but the device complexity increases
Solution Approach 1:
The movable base is designed to serve multiple functions: it acts as the mounting platform for the robotic arms, the reference point for position measurement, and the component that moves synchronously with the patient. This multi-functionality reduces the need for separate complex subsystems while maintaining high measurement precision.
Solution Approach 2:
The movable base serves as an intermediary between the surgical table and the robotic arms. It decouples the robot from direct table mounting, allowing independent movement and measurement while simplifying the overall system architecture compared to direct table-mounted systems with complex synchronization mechanisms.
3Strength
If heavier surgical tools are used on the robotic arms, then tool robustness improves, but the pressure on the patient increases
Solution Approach 1:
The floating base system dynamically adjusts to patient movement, allowing the use of heavier, more robust surgical tools without increasing patient pressure. The dynamic synchronization ensures that the robot moves precisely with the patient, distributing forces more effectively and reducing localized pressure while maintaining tool strength.
Data Source
AI summary
A system includes a robot mounted to a movable base, the robot including one or more robotic arms. The system monitors, by one or more measurement devices, one or more parameters associated with an object. The system adjusts a pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measurement devices include an optical measurement device, an acoustic transducer, or a multi-sensor device.