Multi-Arm Surgical Robotic System With Integrated Navigation
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Solution Overview
Problem
Current robotic navigation systems in surgery are limited by inaccurate registrations, poor line of sight, passive guidance issues, single-arm limitations, surgeon visibility, and system movement hindrances, lacking flexibility and adaptability for various clinical applications.
Innovation Solution
A multi-arm surgical robotic system with integrated navigation and peripheral arms, featuring a moveable base station, on-board computer, and synchronized surgical arms with end effectors, allowing for simultaneous or sequential task performance, and a collaborative design that includes motorized subsystems controlled by both system software and manually by the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single robotic arm is used for surgical navigation, then the system structure is simple, but it limits surgical methodology to one surgical action at a time
Solution Approach 1:
The robotic system is divided into multiple independent surgical arms (at least two arms), each capable of performing separate surgical actions simultaneously. This segmentation allows different surgical tasks to be performed in parallel without interfering with each other, thereby increasing surgical versatility while maintaining manageable system complexity through modular design.
Solution Approach 2:
Each robotic arm is designed with universal end-effectors that can accommodate various surgical instruments and perform multiple surgical functions. The arms can be configured for different surgical tasks including drilling, screw insertion, and instrument positioning, allowing a single arm to perform multiple roles and reducing the need for specialized equipment for each surgical action.
2Ease of operation
If passive guidance is used in robotic navigation, then the system is easier to operate, but it cannot actively move during the procedure and is hindered by patient movement
Solution Approach 1:
The robotic navigation system transitions from static passive guidance to dynamic active guidance, where the robotic arms can move autonomously during the surgical procedure. The system incorporates real-time tracking and control mechanisms that allow the arms to adjust their positions dynamically in response to patient movement, maintaining navigation accuracy throughout the procedure while preserving ease of operation through automated control.
Solution Approach 2:
The system implements continuous feedback mechanisms using tracking markers and sensors to monitor patient movement and arm position in real-time. This feedback is processed by the control system, which automatically adjusts the robotic arms' positions and navigation data to maintain accuracy, thereby resolving the contradiction between ease of operation and reliability during dynamic surgical conditions.
3Manufacturing precision
If the robotic system is heavily integrated and automated, then surgical accuracy is improved, but system movement is hindered intraoperatively and during transport
Solution Approach 1:
The robotic system is designed as a modular segmented structure with multiple independently controllable arms and components. This segmentation allows the system to maintain high surgical accuracy through precise control of each module while enabling flexible movement and reconfiguration during transport and intraoperative setup, as individual modules can be adjusted without moving the entire system.
4Productivity
If multiple surgical arms are used to perform simultaneous tasks, then productivity is improved, but device complexity increases
Solution Approach 1:
The system uses multiple segmented robotic arms that can operate independently and simultaneously, allowing different surgical tasks to be performed in parallel. This increases surgical productivity by eliminating sequential bottlenecks while the modular segmented architecture keeps device complexity manageable through standardized interfaces and independent control systems for each arm.
Solution Approach 2:
Multiple robotic arms are merged into a single integrated system sharing common control software, power supply, and navigation infrastructure. This merging approach enables simultaneous surgical tasks to be coordinated efficiently while avoiding the complexity of completely separate systems, as the arms share resources and communication protocols.
Data Source
AI summary
Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices.