Force-Sensing Robot Arm for Precise Surgical Drilling
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Solution Overview
Problem
Current robotic systems in surgical applications are suboptimal for precise drilling and other tasks, leading to human and robotic errors, and are time-consuming, which affects the success of surgeries like vertebrae fusion due to complex bone structures.
Innovation Solution
A robot arm system with an end effector, motors, and an activation assembly that allows for force-controlled movement, using a load cell to sense and communicate force to a computer processor for precise manipulation of surgical tools, and includes a gravity well for stabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual drilling guidance is used by surgeon, then flexibility in operation is maintained, but precision and time efficiency deteriorate due to complex bone structures and tedious manual positioning
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic system that uses computer vision and control algorithms to position drilling instruments. The robot arm with end effector automatically positions the drill based on pre-planned trajectories, eliminating the need for manual alignment and significantly improving both precision and speed.
Solution Approach 2:
The robotic system performs self-positioning and self-alignment using integrated sensors and computer vision. The system automatically calculates optimal drilling paths and executes them without continuous human intervention, allowing the surgical process to proceed faster and more accurately.
2Extent of automation
If current robotic systems are used for surgical applications, then some automation is achieved, but precision for drilling tasks deteriorates due to suboptimal system design
Solution Approach 1:
The patent implements specialized end effectors designed specifically for drilling operations, with features optimized for precise hole creation. The end effector includes dedicated drilling components with controlled degrees of freedom, allowing precise positioning while maintaining stability during the drilling process. This localized optimization for drilling tasks improves precision without compromising overall automation.
3Measurement precision
If more complex robotic systems are implemented, then precision may improve, but system complexity and error potential increase
Solution Approach 1:
The robotic system is divided into modular components: a base unit, a robot arm with specific degrees of freedom, and interchangeable end effectors. Each module is independently controlled and optimized for its specific function. This segmentation reduces overall system complexity while maintaining high precision through coordinated operation of simplified subsystems.
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 system minimizes human and robotic errors, enabling fast and efficient surgical operations with improved precision and reduced patient adverse effects by allowing precise localization and stabilization of surgical instruments.
Implementation Method 1
sensing the force with a load cell; communicating force to a computer processor
Implementation Method 2
moving the robot arm to a gravity well; and stopping the robot arm in the gravity well
Data Source
AI summary
A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.