Limb Holder Movement Measurement for Robotic Surgical Positioning
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Solution Overview
Problem
Modern robotic surgical systems face inaccuracies due to loosely secured surgical sites, causing the instrument to be positioned inaccurately and adding delays as the position control loop continually pushes the target out of reach.
Innovation Solution
A robotic system that measures the extent to which a limb moves relative to its holder and generates notifications for physical adjustments, using sensors and controllers to ensure secure positioning of the surgical site.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If modern surgical holders allow slight movements of the patient to enable autonomous operation, then ease of operation is improved, but positioning precision deteriorates because the surgical site becomes too loosely secured
Solution Approach 1:
The system continuously measures the position of the surgical site relative to the holder and feeds this information back to the controller. The controller uses this feedback to calculate compensation values and adjust the instrument's position accordingly, resolving the contradiction between allowing movement and maintaining positioning precision.
Solution Approach 2:
The system changes the control parameter from rigid fixed positioning to dynamic compensation-based positioning. By measuring the actual movement parameters of the surgical site and adjusting the instrument position based on these measured values, the system maintains precision despite allowing holder movement.
2Extent of automation
If the position control loop continually attempts to reach a target while pushing it out of reach, then automation is improved, but loss of time increases due to unnecessary delay
Solution Approach 1:
The system performs preliminary measurement of the surgical site's position and movement characteristics before the actual surgical operation begins. This preliminary characterization allows the controller to pre-calculate compensation values, eliminating time-consuming real-time adjustments during the procedure.
Solution Approach 2:
The system uses the surgical holder's own movement characteristics to generate compensation signals. The holder's movement is measured and directly used to adjust the instrument position, making the system self-correcting without requiring external intervention or time-consuming real-time control loops.
3Adaptability or versatility
If the surgical instrument is positioned inaccurately at the surgical site, then adaptability is improved by allowing movement, but manufacturing precision deteriorates due to positioning inaccuracy
Solution Approach 1:
The system introduces an intermediary compensation mechanism between the surgical holder and the instrument positioning system. This intermediary layer measures the holder's movement and translates it into corresponding instrument position adjustments, maintaining precision while adapting to movement.
Solution Approach 2:
The system replaces direct mechanical rigid coupling with a sensor-based measurement and control system. Instead of relying on mechanical rigidity to maintain position, the system uses sensors to detect movement and electronically compensates through controlled instrument positioning, achieving both adaptability and precision.
Data Source
AI summary
Surgical systems and methods to interact with a limb of a patient held by a limb holder. An instrument is configured to apply a force externally to the limb held by the limb holder, One or more controllers measure an extent to which the limb moves relative to the limb holder in response to the force applied externally to the limb by the instrument. The one or more controllers generate, based on the measured extent, a notification relating to physical adjustment of one or both of the limb and the limb holder.