Modular MRI-Compatible Surgical Robot with Ultrasonic Actuation
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Solution Overview
Problem
Current surgical robots are not widely used in MRI environments due to MRI incompatibility, limitations in real-time intra-operative imaging, and space constraints, as well as a lack of compatible modular surgical tools.
Innovation Solution
A modular reconfigurable surgical robot system is developed, comprising linear, turret, elbow roll, and wrist tilt modules, all of which are MRI-compatible and can be connected to form a surgical robot capable of performing various surgical tasks, including a penetration module with a surgical tool module, utilizing ultrasonic rotary motors and gear mechanisms for precise movement and attachment to an arch device unit for movement along an MRI scanner rail.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional surgical robots are used, then surgical functionality is provided, but MRI compatibility is lost
Solution Approach 1:
The surgical robot is divided into separate modular components (base unit, arm units, tool units) that can be independently configured. Each module is designed to be MRI-compatible while maintaining surgical functionality, allowing the system to adapt to different surgical needs within the MRI environment.
Solution Approach 2:
The robot employs universal interfaces and standardized connection protocols across all modules, enabling a single base unit to support multiple arm configurations and various surgical tools. This multi-functionality ensures both MRI compatibility and versatile surgical capability.
2Loss of information
If real-time intra-operative imaging is implemented, then imaging capability is improved, but space constraints are worsened
Solution Approach 1:
The imaging system is integrated within the existing MRI scanner infrastructure, nesting the surgical robot's imaging capabilities within the MRI bore space. This eliminates the need for separate imaging equipment and reduces overall space requirements while maintaining real-time imaging capability.
3Adaptability or versatility
If modular reconfigurable design is implemented, then adaptability is improved, but device complexity is worsened
Solution Approach 1:
The modular robot system employs dynamic reconfiguration capabilities where arms and tools can be adjusted and repositioned during procedures. Standardized interfaces and automated connection protocols simplify the complexity of reconfiguration, allowing dynamic adaptation without proportionally increasing system complexity.
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
The modular robot system allows for precise and flexible surgical procedures within the MRI environment, overcoming compatibility and space issues, enabling effective use during scanning with real-time imaging and modular tool compatibility.
Implementation Method 1
utilizing ultrasonic rotary motors and gear mechanisms for precise movement
Data Source
AI summary
A modular reconfigurable surgical robot for use in association with a surgical tool is disclosed. The surgical robot includes a linear module for linear movement; a turret module for rotational movement, and elbow roll module for rotational movement, and a wrist tilt module for rotational movement. The turret module has a turret rotational axis. The elbow roll module for rotational has an elbow roll rotational axis at an angle to the turret rotational axis. The wrist tilt module has a wrist tilt rotational axis at an angle to the turret rotational axis and the elbow roll rotational axis. The linear module, turret module, elbow roll module and wrist tilt module are operably connectable together to form the surgical robot and one of the modules is operably connectable to the surgical tool. The surgical robot may include an arch device unit attachable to one of the other modules.