Selective Compliance Robot Arm for Precise Bone Drilling
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Solution Overview
Problem
Current robotic systems are suboptimal for precise drilling in complex bone structures, leading to tedious and time-consuming manual processes that depend heavily on the surgeon's dexterity, with high risks of human and robotic errors.
Innovation Solution
An automated medical system comprising a robot support system with a selective compliance articulated robot arm and a camera tracking system, which includes a robot body, motors, actuators, and a camera, allows for precise positioning and tracking of surgical instruments using 3D imaging and gravity wells to minimize errors and enhance surgical efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a surgeon manually holds and positions a drill guide tube using a guidance system to overlay the drill tube's position onto a three dimensional image of the bone structure, then the surgeon can perform the drilling operation, but the process becomes tedious and time consuming with high dependence on surgeon dexterity
Solution Approach 1:
The patent replaces the manual mechanical positioning system with an automated robotic system. The robotic arm is controlled by a computer that receives commands from a user interface, automatically positioning the drill guide tube without requiring manual manipulation by the surgeon. This substitution of mechanical manual operation with automated robotic control eliminates the tedious manual positioning process while maintaining drilling functionality.
Solution Approach 2:
The robotic system performs self-positioning and self-alignment functions that previously required manual surgeon intervention. The system automatically tracks the bone structure via imaging, calculates the optimal drill trajectory, and positions the drill guide tube accordingly, making the system self-sufficient in the positioning task without continuous human dexterity-dependent operation.
2Extent of automation
If conventional robots are used for magnifying/steadying surgical movements or providing a template for milling the bone surface, then some surgical functions are automated, but the robots are suboptimal for drilling holes and other related tasks
Solution Approach 1:
The robotic system is segmented into functionally independent modules: a positioning module for precise location, a drilling module for hole creation, and a control module for coordination. This segmentation allows each module to be optimized for its specific function, making the overall system reliable for drilling operations while maintaining automation. The drilling module specifically includes features like drill guide tubes and positioning mechanisms that are not present in conventional single-function robots.
Solution Approach 2:
The robotic system is designed as a multi-functional platform that can perform various surgical tasks including drilling, milling, and positioning. By integrating multiple functions into a single robotic system with interchangeable end-effectors and a common control architecture, the system achieves both automation and reliability across different surgical operations, not just drilling-specific tasks.
3Ease of operation
If manual positioning of drill guide tube is performed, then the surgeon has direct control over the drilling process, but human and robotic errors increase the risk of adverse effects on the patient
Solution Approach 1:
The robotic system incorporates real-time feedback mechanisms that continuously monitor the drilling process and compare it against pre-planned trajectories and anatomical constraints. Imaging systems provide ongoing feedback on the drill position relative to bone structures, and the control system automatically adjusts or stops the drilling operation if deviations are detected, preventing errors that could harm the patient while maintaining surgeon oversight through the feedback loop.
Data Source
AI summary
An automated medical system and method for using the automated medical system. The automated medical system may comprise a robot support system. The robot support system may comprise a robot body. The robot support system may further comprise a selective compliance articulated robot arm coupled to the robot body and operable to position a tool at a selected position in a surgical procedure. The robot support system may further comprise an activation assembly operable to transmit a move signal to the selective compliance articulated robot arm allowing an operator to move the selective compliance articulated robot arm. The automated medical system may further comprise a camera tracking system and an automated imaging system.