Co-registered Multi-arm Robotic Systems for Spinal Surgery Collision Avoidance
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Solution Overview
Problem
Current robotic systems face challenges in operating multiple robotic arms without undesired contact, monitoring targets during surgical procedures, performing simultaneous or sequential surgical tasks, precisely moving vertebrae, and ensuring patient safety by accurately tracking forces and torques applied during spinal procedures.
Innovation Solution
A system comprising co-registered robotic arms, a computing device, imaging devices, and navigation systems that allow for precise orientation and operation of tools and imaging devices in a shared coordinate space, enabling collision avoidance, simultaneous task performance, and real-time monitoring of anatomical elements and forces applied during surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robotic arms are operated in a shared coordinate space, then productivity and task coordination are improved, but the risk of undesired contact and collision increases
Solution Approach 1:
The system continuously monitors the positions and orientations of all robotic arms in real-time, using sensors and tracking systems to detect potential collisions. This feedback loop enables the control system to adjust arm trajectories dynamically, preventing undesired contact while maintaining coordinated operation in shared coordinate space
Solution Approach 2:
The robotic arms operate with dynamic motion planning that adjusts speeds, accelerations, and paths based on real-time spatial relationships. The system modifies operational parameters dynamically to maintain safe distances between arms while preserving the ability to perform simultaneous surgical tasks efficiently
2Measurement precision
If imaging devices are held by robotic arms, then measurement precision and monitoring accuracy are improved, but device complexity increases
Solution Approach 1:
The robotic arm system is designed with universal end-effectors that can accommodate multiple types of imaging devices and surgical tools. This multi-functionality allows the same robotic infrastructure to perform both positioning and imaging functions, reducing overall system complexity while maintaining high measurement precision through integrated sensor systems
3Manufacturing precision
If co-registration of robotic arms is implemented, then manufacturing precision and spatial accuracy are improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The system employs intermediary reference markers and fiducial points that simplify the co-registration process. These intermediaries serve as common reference frames between different robotic arms and imaging systems, enabling accurate spatial alignment without requiring complex direct measurements between all system components
Data Source
AI summary
Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.