Medical Imaging 3D Volumes for Robotic Arm Collision Avoidance
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Solution Overview
Problem
Surgical robots may unintentionally collide with patient anatomy due to changes in patient anatomy over time, particularly after medical implant placement.
Innovation Solution
Utilize medical images such as CT, MRI, and fluoroscopic images to map anatomical elements and construct 3D volumes that the robotic arm cannot move through, integrating this data into motion calculations to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic arm is controlled to avoid passing through defined 3D volumes, then collision risk with patient anatomy is reduced, but the complexity of motion control increases
Solution Approach 1:
The system performs preliminary actions by registering preoperative medical images (CT, MRI, fluoroscopic images) to define 3D volumes representing patient anatomy before the surgical procedure begins. These pre-defined volumetric constraints are then integrated into motion control calculations throughout the surgery, eliminating the need for real-time anatomical scanning and reducing intraoperative complexity.
Solution Approach 2:
The patent introduces 3D volumetric representations of patient anatomy as an intermediary between the robotic arm control system and the patient's actual anatomy. These virtual 3D models serve as mediators that translate complex anatomical data into simplified spatial constraints, allowing the robot to navigate around anatomical structures without requiring direct real-time interaction with the actual tissue.
2Measurement precision
If real-time anatomical imaging is used to update 3D volumes, then accuracy of collision avoidance improves, but the time required for surgical procedure increases
Solution Approach 1:
The system performs anatomical imaging and 3D volume definition as a preliminary action before the surgical procedure begins. Preoperative CT, MRI, or fluoroscopic images are registered to establish accurate 3D representations of patient anatomy in advance, eliminating the need for time-consuming real-time scanning during surgery while maintaining high anatomical accuracy.
Solution Approach 2:
The patent creates a virtual copy of the patient's anatomy through 3D volumetric models derived from preoperative medical images. This digital replica allows the system to work with accurate anatomical data without requiring repeated physical imaging during surgery, thus maintaining measurement precision while reducing procedural time.
3Reliability
If multiple 3D volumes are defined for different anatomical elements, then collision avoidance coverage is improved, but the computational requirements increase
Solution Approach 1:
The system segments the patient's anatomy into multiple distinct 3D volumes, with each volume representing a specific anatomical element (e.g., vertebrae, ribs, soft tissues). This segmentation allows the robotic control system to process and manage anatomical data in manageable portions, reducing overall computational energy requirements while maintaining comprehensive collision avoidance coverage through multiple specialized volumetric representations.
Data Source
AI summary
Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.