Collaborative Puncture Robot Control for Respiratory Motion Compensation
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Solution Overview
Problem
Minimally invasive surgeries face challenges in accurately guiding puncture needles due to deviations caused by respiratory motion and tissue extrusion, leading to radiation exposure and additional patient damage from repeated needle insertions.
Innovation Solution
A compound robotic system comprising a first robot, a second robot, a needle insertion device, optical positioning balls, skin markers, an optical tracker, and a computer calculation unit, which collaboratively adjust attitudes and account for respiratory motion to accurately guide the needle along a planned path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If CT images are used to guide puncture needle placement, then positioning can be performed, but radiation damage occurs to both doctor and patient
Solution Approach 1:
The patent uses optical tracking systems with markers to create a real-time digital copy of the patient's anatomy and needle position, replacing the need for repeated CT scans. The optical system captures and transmits positional information without radiation exposure, allowing continuous monitoring of needle placement accuracy.
Solution Approach 2:
The patent replaces the radiation-based CT imaging system with an optical tracking system that uses light sensors and markers to monitor needle position. This substitution eliminates radiation damage while maintaining positioning capability through real-time optical measurement of needle location relative to anatomical landmarks.
2Ease of operation
If CT images alone are used to guide puncture surgery, then guidance can be provided, but positioning accuracy deteriorates due to respiratory motion and tissue extrusion
Solution Approach 1:
The patent implements real-time feedback by continuously tracking the needle position and comparing it with the planned trajectory using optical sensors. The system provides immediate information about deviations caused by respiratory motion or tissue displacement, allowing dynamic adjustment of the puncture path to maintain accuracy throughout the procedure.
Solution Approach 2:
The patent transitions from static pre-surgical CT planning to dynamic real-time tracking during the procedure. The optical tracking system continuously updates the needle position and tissue deformation data, allowing the guidance system to adapt to changing anatomical conditions caused by respiration and tissue movement.
3Measurement precision
If needle deviation is corrected by withdrawing and re-inserting the needle, then positioning accuracy is improved, but patient damage increases and time is consumed
Solution Approach 1:
The real-time optical tracking system provides continuous feedback on needle position and trajectory, allowing the surgeon to detect and correct deviations immediately during insertion. This eliminates the need to withdraw and re-insert the needle, as corrections can be made by adjusting the insertion angle or path while the needle remains in place, thereby avoiding additional tissue damage.
Solution Approach 2:
The patent replaces the mechanical correction method of withdrawing and re-inserting the needle with an optical measurement and control system. The optical sensors detect needle position and trajectory in real-time, and the system controls or guides the needle insertion to prevent deviations, eliminating the need for repeated mechanical insertion and withdrawal.
4Device complexity
If a single robot is used for puncture guidance, then device complexity is reduced, but positioning accuracy and control flexibility deteriorate
Solution Approach 1:
The patent divides the robotic guidance system into multiple independent robotic components, each responsible for specific functions such as needle insertion, positioning, and trajectory control. This segmentation allows each robot to be optimized for its specific task while maintaining overall system coordination through the optical tracking framework, thereby achieving high positioning accuracy without excessive complexity in any single component.
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
Improves puncturing accuracy and reduces patient discomfort by using a collaborative robotic system that compensates for respiratory motion and tissue deviations, enhancing surgical precision and reducing invasive corrections.
Implementation Method 1
The optical tracker is configured to measure the first optical positioning ball module to obtain a position of the second robot
Implementation Method 2
The optical tracker is configured to measure the skin markers to estimate a planning path
Implementation Method 3
the sensor is configured to sense the force and tactile feedback of the puncture needle when passing through a muscle tissue of the patient
Data Source
AI summary
A compound robotic system includes a first robot, a second robot, a needle insertion device, a first optical positioning ball module, plural skin markers, an optical tracker, a shared controller and a computer calculation unit. The volume and movement range of the second robot are respectively less than the volume and movement range of the first robot, and the positioning accuracy of the second robot is greater than the positioning accuracy of the first robot. The first optical positioning ball module is located on the second robot. The optical tracker is configured to measure the first optical positioning ball module to obtain a position of the second robot, and to measure the skin markers to estimate a planning path. The shared controller is configured to adjust a collaborative rate of the first robot to the second robot by regulating a shared weighting.