Radiolucent Robotic End Effectors for MRI-Guided Haptic Surgery
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Solution Overview
Problem
Current surgical robotics are unable to function within MRI & CT imaging bores due to metallic composition causing high density and attenuation artifacts, and lack naturalistic control systems, introducing a learning curve.
Innovation Solution
Implementing radiolucent surgical robotic end effectors with carbon-based strain and pressure sensors, non-metallic conductive materials, and a gestural control glove for real-time haptic feedback, enabling operation within imaging bores and replicating natural surgeon motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If metallic composition is used in surgical robotic end effectors, then electrical transmission and structural strength are improved, but radiographic and magnetic imaging compatibility deteriorates due to high density and attenuation artifacts
Solution Approach 1:
The patent changes the material composition parameter from metallic to radiolucent non-metallic materials (such as carbon fiber reinforced polymers, graphite, or other radiolucent composites). This material substitution maintains the structural strength requirements while eliminating the high density and attenuation artifacts that interfere with radiographic and magnetic imaging, thereby resolving the contradiction between strength and imaging compatibility.
Solution Approach 2:
The patent employs composite materials that combine radiolucent properties with structural integrity. Examples include carbon fiber reinforced polymers, graphite composites, or other radiolucent material combinations that provide the necessary mechanical strength for surgical end effectors while maintaining compatibility with MRI and CT imaging by avoiding metal-induced artifacts.
2Use of energy by moving object
If metallic conductive materials are used in surgical robotics, then electrical current transmission is improved, but compatibility with radiographic and magnetic imaging bores deteriorates
Solution Approach 1:
The patent changes the electrical conduction material parameter from metallic to non-metallic conductive materials. This substitution allows electrical current transmission to be maintained through alternative conductive pathways (such as conductive polymers, carbon-based conductive materials, or wirelessly powered systems) while eliminating the attenuation artifacts caused by metallic materials in radiographic and magnetic imaging environments.
3Manufacturing precision
If non-naturalistic robotic joint control is used, then robotic precision is improved, but ease of operation deteriorates due to learning curve
Solution Approach 1:
Instead of requiring the surgeon to learn complex robotic control interfaces, the patent inverts the approach by allowing the surgeon's natural hand gestures and motions to directly control the robotic end effector. The gesture-controlled robotic system captures and translates natural hand movements into precise robotic actions, eliminating the learning curve while maintaining surgical precision.
Solution Approach 2:
The robotic system is designed to be self-adaptive to the surgeon's natural movements. By using gesture recognition and motion capture technologies, the system automatically translates the surgeon's intuitive hand gestures into corresponding robotic actions without requiring explicit programming or training, making the control system self-serving and immediately intuitive for the surgeon.
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
Enables minimally-invasive surgery with real-time tactile feedback, allowing surgeons to perform intricate procedures naturally and intuitively within MRI & CT imaging environments without a learning curve.
Implementation Method 1
carbon based strain gauge pressure sensors arrayed along the working surfaces of the radiolucent circumduction end effector
Implementation Method 2
piezo-electric haptic feedback actuators in the interior of the glove
Implementation Method 3
non-metallic yet conductive graphene-cotton thread based, or non-metallic flexible silicone-carbon nanotube electrical transmission array
Implementation Method 4
non-metallic conductive 'Yttrium' stabilized or 'Skandia' stabilized zirconium blades for electrocautery
Data Source
AI summary
A radiolucent medical imaging compatible approach of gathering stress and strain data from radiolucent pressure sensors arrayed along radiolucent surgical robotic circumduction end effectors, of transmitting electrical current and said sensor data via non-metallic yet conductive means, and of providing this sensor data as real-time haptic feedback to a surgeon's hand, fingers, thumbs and wrist via naturalistic control glove which issues gestural commands to the radiolucent end effector, for purposes of performing minimally-invasive robotic surgery, dissection, retraction, electrocautery, anastomosis and for delivering collision avoidance of said end-effectors within the radiographic and magnetic imaging bores.