IORT Robot Arm Alignment With Haptic Control
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Solution Overview
Problem
Current intraoperative radiation therapy (IORT) systems, especially immobile and conventional mobile devices, face challenges with lengthy setup times and reduced patient throughput due to limited mobility and alignment complexities, posing risks to patients and inefficiencies in radiation delivery.
Innovation Solution
A mobile IORT system with a moveable cart, a robot arm assembly providing five axes of movement, and haptic control for accurate alignment of the treatment head with an electron applicator, enabling rapid and precise positioning through a two-stage alignment process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an immobile IORT device is used, then radiation treatment can be delivered, but the patient must be moved from the operating room to the device location, increasing setup time and infection risk
Solution Approach 1:
The IORT device is transformed from a static immobile structure to a mobile platform with dynamic positioning capabilities. The robot arm assembly with 5 axes of movement allows the treatment head to be dynamically repositioned to reach various target areas, while the entire system can be moved to different locations within the operating room, eliminating patient transfer requirements.
Solution Approach 2:
The haptic control assembly serves as an intermediary between the operator and the treatment head positioning system. It provides intuitive force feedback control that enables precise alignment of the treatment head with the electron applicator through natural hand movements, significantly reducing alignment time and complexity.
2Reliability
If an immobile IORT device is used, then radiation treatment can be delivered, but patient throughput is reduced due to lengthy setup and transport time
Solution Approach 1:
The mobile design with 5-axis robot arm enables the system to quickly adapt to different patients and treatment scenarios without requiring facility reconfiguration. The treatment head can rapidly reposition between patients and procedures, maximizing utilization of the expensive capital equipment and increasing the number of patients that can be treated within a given period.
Solution Approach 2:
The system incorporates automated alignment capabilities where the treatment head can autonomously align with the electron applicator using sensor feedback and control algorithms. This self-alignment feature reduces the time operators need to spend on manual positioning between patients, thereby increasing overall system productivity and patient throughput.
3Ease of operation
If a mobile IORT device with limited movement is used, then the device can be moved to the patient, but positioning flexibility and alignment accuracy are reduced
Solution Approach 1:
The robot arm assembly provides 5 independent axes of movement (pitch, yaw, roll, extension, and retraction), creating a dynamically adjustable positioning system. This allows the treatment head to reach virtually any position and orientation around the patient's body, maintaining full adaptability while enabling easy mobility to different operating room locations.
Solution Approach 2:
The haptic control assembly acts as an intuitive intermediary that translates operator intent into precise treatment head positioning. Through natural hand movements on the haptic interface, operators can effortlessly navigate the treatment head to the correct position and orientation, combining ease of operation with high positioning flexibility.
4Ease of operation
If manual alignment of treatment head to applicator is used, then alignment can be achieved, but setup time is increased and precision may be compromised
Solution Approach 1:
The system incorporates sensor arrays that provide real-time feedback on the relative position and orientation of the treatment head with respect to the electron applicator. This feedback is fed back to the control system, which automatically adjusts the treatment head positioning to achieve precise alignment, ensuring both high precision and ease of operation.
Solution Approach 2:
The haptic control assembly serves as an enhanced intermediary that combines manual operator control with automated feedback mechanisms. The haptic interface provides force feedback that guides the operator's movements, while underlying automated systems make fine adjustments based on sensor data, achieving both ease of operation and high alignment precision.
Data Source
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AI summary
The IORT system includes a moveable cart, a robot arm assembly coupled to the cart, at least one applicator fixed relative to a patient, a treatment head coupled to the robot arm assembly for selective alignment with the applicator in a soft-docking procedure, and a haptic control assembly on the treatment head. A plurality of arm members is pivotally coupled to each other to provide at least five axes of movement for increased positioning flexibility and the enhanced flexibility increases the reach of the treatment head for accurate alignment. The alignment follows a two-stage process with a coarse alignment performed by the haptic control assembly to position a sensor array on the treatment head within detection range of an endcap on the applicator. Final alignment is autonomous employing range data from the sensor array to accurately position the treatment head with respect to the applicator.