Medical Robot Auto-Positioning Without External Room Mapping
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Solution Overview
Problem
Current medical robots require manual positioning, which can lead to errors and inefficiencies, especially in non-specific treatment rooms, due to reliance on external tracking systems and room mappings that need updating, limiting their precision and flexibility.
Innovation Solution
A method for autonomous positioning of medical robots using a motorized mobile base with spatial location sensors, allowing the robot to detect the patient's anatomy and identify optimal positions without pre-existing room mappings, enabling precise and flexible operation in any treatment room.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of medical robot is used, then operator experience can guide positioning, but positioning errors and non-optimum positions occur leading to reduced precision
Solution Approach 1:
The medical robot performs self-positioning by autonomously detecting the treatment room layout, identifying the treatment table, and calculating its own optimal position based on the treatment plan, eliminating dependence on manual operator positioning and its associated errors
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated system using spatial location sensors, image processing, and computer-controlled movement to achieve precise and reliable positioning without human intervention
2Extent of automation
If external tracking system is used for automatic positioning, then optimum position can be determined, but system complexity increases and room preparation requirements increase
Solution Approach 1:
The patent extracts and eliminates the external tracking system from the positioning architecture, using only the medical robot's own onboard spatial location sensors and the existing medical image acquisition system to achieve automatic positioning
Solution Approach 2:
The medical image acquisition system serves dual purposes: both for obtaining treatment planning images and for detecting the treatment room layout and treatment table position, eliminating the need for separate tracking system infrastructure
3Extent of automation
If external tracking system with markers is used, then automatic positioning is achieved, but positioning errors occur due to marker positioning errors and mapping errors
Solution Approach 1:
The medical robot autonomously detects spatial landmarks in the treatment room and uses these to self-determine its position and orientation, eliminating dependence on externally placed markers that are susceptible to positioning errors
Solution Approach 2:
The patent uses spatial location sensors and image processing algorithms as intermediaries to detect treatment room features and calculate robot position, providing a more reliable measurement path than direct marker-based tracking
4Extent of automation
If treatment room mapping is required for tracking system, then automatic positioning is enabled, but adaptability to different rooms is reduced and preparation time increases
Solution Approach 1:
The system dynamically adapts to each treatment room by performing real-time detection of spatial landmarks and treatment table position, rather than relying on pre-stored static maps, enabling flexibility across different room configurations
Solution Approach 2:
The medical robot performs preliminary detection of the treatment room layout and treatment table position automatically upon entry, enabling immediate positioning without requiring advance room mapping or preparation
Data Source
AI summary
The invention relates to a medical robot (10) comprising a motorized mobile base (13), spatial-location sensors (17) secured to the mobile base, and a control unit (16) that stores in memory an intervention plan comprising at least one action to be performed on the anatomy of interest of a patient (30). The control unit is configured to: —detect, from information coming from the spatial-location sensors (17), a position of the anatomy of interest of the patient with respect to the medical robot, —identify, from the position of the anatomy of interest of the patient and from the intervention plan, at least one favourable position of the mobile base of the medical robot for which position the medical robot is capable of performing the action or actions from the intervention plan, —move the mobile base of the medical robot into an optimal position selected from among the favourable position or positions identified.