Medical Robotic Device Movement Compensation via Integrated Force Sensors
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Solution Overview
Problem
Current medical-robotic devices face challenges in achieving accuracy during surgical interventions due to patient movements, such as respiratory or cardiac movements, which can impair the precision of treatments or diagnoses, and existing compensation methods often require external tracking systems that are cumbersome and prone to errors.
Innovation Solution
A medical-robotic device with a kinematic chain and end effector equipped with force or torque sensors and a control processor, featuring an additional mechanical component with adjustable rigidity that can transmit external forces or torques to the end effector, allowing for improved movement compensation and accuracy without the need for external tracking systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external optical or electromagnetic tracking systems are used for movement compensation, then movement detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent combines the tracking functionality directly into the robotic device's end effector by integrating markers or tracking elements onto the surgical instruments themselves. This merging eliminates the need for separate external tracking systems while maintaining movement detection capability, thereby reducing device complexity and cost.
Solution Approach 2:
The robotic device's end effector serves multiple functions: it performs the surgical task (drilling, cutting, etc.) and simultaneously carries tracking markers for movement compensation. This multi-functionality eliminates the need for dedicated external tracking hardware, reducing overall system complexity while maintaining measurement precision.
2Reliability
If external tracking systems are used for movement compensation, then movement compensation capability is improved, but ease of operation deteriorates due to cumbersome setup
Solution Approach 1:
By integrating tracking markers directly onto the surgical instruments and robotic components, the system eliminates the need for separate external tracker attachment and calibration procedures. This integration significantly simplifies the setup process while maintaining reliable movement compensation throughout the surgical procedure.
3Measurement precision
If force or torque sensors are integrated on the kinematic chain, then movement compensation accuracy is improved, but device complexity increases
Solution Approach 1:
The patent integrates force and torque sensors directly into the kinematic chain components and end effector, combining multiple sensing functions into the existing structural elements. This integration approach reduces the number of separate sensor systems needed while maintaining high measurement precision for force and torque detection.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the accuracy and safety of medical-robotic interventions by enabling precise movement compensation, reducing the risk of complications, and allowing for more efficient and cost-effective treatment, particularly in spinal surgery, by integrating sensors and actuators within the device for movement compensation.
Implementation Method 1
at least one force or torque sensor for the detection of at least one force or torque value on the kinematic chain
Data Source
AI summary
A medical-robotic device that has a kinematic chain of movable components with an end effector at one end, with at least one force or torque sensor for the detection of at least one force or torque value on the kinematic chain. A control processor that controls the kinematic chain. An additional mechanical component is attached directly to the end effector or one of the movable components so that the additional component can transmit a force external to the device or a torque external to the device to the end effector or the movable component. The control processor determines the force external to the device or the torque external to the device on the basis of the at least one force or torque value detected, and controls the kinematic chain in dependence on the determined force external to the device or the determined torque external to the device, in order to increase the accuracy of the medical-robotic device.