Kinematic Mount for Dynamic Reference Base Registration
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Solution Overview
Problem
Current position recognition systems for robot-assisted surgeries face challenges in efficiently and accurately determining the position of tracking markers and dynamic reference bases, leading to suboptimal neuronavigation registration and robotic trajectory guidance, especially when these systems fall out of registration or require repetitive verifications, and are complicated by the transition between sterile and non-sterile environments.
Innovation Solution
A surgical robot system with a detachable dynamic reference base and kinematic mount that allows for precise reattachment of tracking markers, ensuring they maintain their previous positions and orientations within 15% variation, facilitating efficient neuronavigation and robotic trajectory guidance across different environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If tracking markers and dynamic reference bases are used for position recognition in robot-assisted surgeries, then neuronavigation registration and robotic trajectory guidance can be achieved, but the system requires repetitive verifications and registrations when falling out of registration, reducing efficiency
Solution Approach 1:
The patent applies preliminary action by pre-establishing a kinematic mount with defined mounting surfaces and characteristics before the actual surgical procedure. The mount is configured with specific geometric features (planar surfaces, cylindrical surfaces, spherical surfaces) that predetermined the positioning relationship between the dynamic reference base and registration fixture. This preliminary configuration ensures that when the DRB is reattached, it automatically returns to the same position and orientation without requiring repetitive registrations, thus resolving the contradiction between measurement precision and registration efficiency.
2Adaptability or versatility
If detachable dynamic reference base is used to facilitate reattachment, then the system can transition between sterile and non-sterile environments, but maintaining consistent tracking marker positions within 15% variation requires precise kinematic mounting
Solution Approach 1:
The patent applies segmentation by dividing the mounting system into distinct components: a registration fixture, a detachable dynamic reference base, and a kinematic mount with separate mounting surfaces. This segmentation allows the DRB to be detached and reattached while maintaining consistent positioning through the predefined kinematic mount characteristics. The segmented design enables transition between sterile and non-sterile environments while the precise geometric relationships between mounting surfaces ensure positioning consistency within 15% variation, resolving the contradiction between adaptability and device complexity.
3Reliability
If repetitive registrations are performed to maintain navigation accuracy, then position determination reliability is improved, but time consumption and operational efficiency decrease
Solution Approach 1:
The patent applies self-service through the kinematic mount's inherent geometric constraints that automatically guide the dynamic reference base into the correct position and orientation upon reattachment. The mounting surfaces (planar, cylindrical, or spherical) create self-aligning features that enable the system to self-correct and self-register without requiring external intervention or repetitive registration procedures. This self-service mechanism maintains navigation registration reliability while eliminating time-consuming repetitive registrations, resolving the contradiction between reliability and time loss.
Data Source
AI summary
A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.