Multi-Arm Surgical Robotics for Simultaneous Procedures
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Solution Overview
Problem
Current robotic navigation systems in surgery face limitations such as inaccurate registrations, poor line of sight, passive guidance issues, single-arm limitations, and system movement hindrances, which restrict their adaptability and flexibility during surgical procedures.
Innovation Solution
A multi-arm surgical robotic system with integrated navigation and peripheral arms, featuring a moveable base station, motorized wheels, and collaborative sub-systems, including a camera and display, to enhance flexibility and adaptability, allowing simultaneous surgical tasks and improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single robotic arm is used for surgical navigation, then the system structure is simpler, but the system can only perform one surgical action at a time, reducing productivity
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms (first robotic arm, second robotic arm, third robotic arm) that can operate simultaneously. Each arm is equipped with its own end effector and can perform different surgical tasks independently, allowing multiple surgical actions to occur at the same time without interfering with each other.
Solution Approach 2:
The robotic system is designed with multiple arms that can each perform various surgical functions. The system can accommodate different end effectors and instruments on each arm, making the overall system versatile and adaptable to different surgical procedures and requirements.
2Adaptability or versatility
If the robotic base station is fixed in position, then the system structure is simpler, but the system cannot be easily moved or repositioned during surgery, reducing adaptability
Solution Approach 1:
The robotic base station is designed with motorized wheels that enable it to move from a first position to a second position during the surgical procedure. This dynamic positioning capability allows the system to adapt to different surgical needs and access different anatomical regions without requiring the entire system to be relocated.
3Productivity
If passive guidance is used in robotic navigation, then the system is easier to operate, but the system cannot actively move or adjust during the procedure, reducing productivity
Solution Approach 1:
The robotic system includes automated navigation capabilities where the robotic arms can autonomously position themselves and adjust their trajectories based on pre-planned surgical paths. The system can automatically compensate for patient movement and adjust instrument positions without requiring constant manual intervention, thereby maintaining ease of operation while enabling active adjustment during the procedure.
4Measurement precision
If the navigation camera has limited field of view, then the camera design is simpler, but the line of sight is poor, reducing measurement precision
Solution Approach 1:
The system introduces a dedicated third robotic arm specifically for positioning the navigation camera. This intermediary robotic arm allows the camera to be dynamically positioned to optimize its field of view and tracking accuracy without complicating the camera design itself. The camera remains relatively simple while the robotic positioning mechanism provides the necessary flexibility and precision.
Data Source
AI summary
Devices, systems, and methods for robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. The base station may include a motorized propulsion and positioning system to transport the robotic system. The system may utilize a powered machine vision end effector, which couples to the surgical arm, to provide specialized motion to an instrument. A sterile drape assembly may maintain sterility and preserve electrical connectivity. Ultrasound tracking may be used for registration, patient tracking, or guided tracking of instruments, for example.