Integrated Registration Tool for Real-Time Robotic Arm Tracking
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Solution Overview
Problem
Current surgical navigation systems, particularly in orthopedic surgery, face cumbersome registration procedures and poor reliability and real-time performance due to the need for frequent installation and removal of trackable elements on robotic arms, leading to increased surgical time and risk of infection.
Innovation Solution
A positioning tool with a body, registration tip, and trackable element integrated onto the robotic arm, allowing for real-time tracking and eliminating the need for repeated installation and removal, thereby simplifying the registration process and enhancing operational safety and visualization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If trackable element is fixedly connected to robotic arm for reliable mounting, then mounting reliability is improved, but surgical time increases due to time-consuming removal and installation
Solution Approach 1:
The patent extracts the trackable element from the robotic arm after registration is complete. The system separates the tracking function (performed by the positioned element) from the robotic arm, allowing the element to be removed once registration is achieved, thus reducing surgical time while maintaining mounting reliability during the critical registration phase
Solution Approach 2:
The trackable element is pre-mounted on the robotic arm before registration begins. This preliminary action ensures reliable mounting is established in advance, allowing the registration process to proceed without interruption, and the element can then be removed to save time
2Object-affected harmful factors
If trackable element is removed after registration, then collision risk during operation is reduced, but reliability deteriorates due to potential positional drift from joint malfunction
Solution Approach 1:
The patent introduces a positioned element as an intermediary that remains on the robotic arm after registration. This element continues to provide tracking functionality without interfering with surgical operations, maintaining position accuracy while avoiding collisions that would occur with a permanently mounted element
Solution Approach 2:
The system segments the tracking function from the robotic arm structure by using a separate positioned element. This element can be strategically placed to avoid collision zones while maintaining tracking accuracy, thus resolving the conflict between collision avoidance and position reliability
3Adaptability or versatility
If multiple trackable elements are used for different registration tasks, then registration versatility is improved, but device complexity increases
Solution Approach 1:
The patent employs a universal positioned element that can serve multiple registration purposes. The same element can be used for different types of registrations (e.g., bone registration, tool registration) by changing the robotic arm's positioning and orientation, eliminating the need for multiple specialized trackable elements and reducing overall device complexity
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
The integrated registration tool reduces surgical time, improves reliability and real-time performance by allowing continuous tracking of the robotic arm's position, ensuring accurate and efficient surgical operations without obstructions or collisions.
Implementation Method 1
the trackable element is a reflective marker
Data Source
AI summary
The present disclosure provides a positioning tool, a robotic arm system, and a surgical system. The positioning tool includes a body, a registration tip, and a trackable element. The body is used to connect with a terminal of a robotic arm at one end and connect to the registration tip at the other end. The registration tip is used to abut a predetermined position. The trackable element is to be disposed on the body, the registration tip or the robotic arm and is used to communicate with a navigation device. The positioning tool provided in present disclosure is an integrated registration tool, which is able to be used to accomplish registrations for both the robotic arm and the object without replacements of the registration tool during the entire registration process, thereby simplifing the operation and shortening the operation time.