Surgical Robot Arm With Gravity-Well Guided Drill Positioning
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Solution Overview
Problem
Current robotic systems in surgical applications are suboptimal for precise drilling and other tasks, leading to human and robotic errors, which can result in adverse effects on patients and are time-consuming, especially when dealing with complex bone structures like vertebrae.
Innovation Solution
A robot arm system equipped with a SCARA mechanism, end effector, and activation assembly that allows for force-controlled movement using motors and load cells, enabling precise positioning and trajectory planning with the assistance of 3D imaging, and the concept of 'gravity wells' for guiding surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a surgeon manually holds and positions a drill guide tube using a guidance system, then the surgeon can perform the drilling task, but the process is tedious and time-consuming
Solution Approach 1:
The robot arm system performs drilling operations autonomously based on pre-planned trajectories and 3D imaging data, eliminating the need for continuous manual guidance and positioning by the surgeon, thereby significantly improving surgical efficiency and reducing time consumption
2Extent of automation
If current robotic systems are used for surgical applications, then automation is provided, but they are suboptimal for drilling holes and other related tasks
Solution Approach 1:
The robot arm system is specifically designed with localized features optimized for drilling operations, including precise trajectory control, force feedback mechanisms, and integration with 3D imaging systems, making it particularly reliable for drilling holes in complex bone structures rather than providing general-purpose automation
3Manufacturing precision
If precise drilling is performed on complex bone structures like vertebrae, then high mechanical integrity is achieved, but the complexity of non-planar curved surfaces makes precise and perpendicular drilling difficult
Solution Approach 1:
The system performs preliminary 3D imaging and trajectory planning before the actual drilling operation, allowing the robot arm to pre-calculate precise drilling paths and angles for complex non-planar bone surfaces, thereby achieving high drilling precision without increasing operational complexity during the surgical procedure
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 system minimizes errors and enhances surgical efficiency by allowing precise and efficient access for surgical tools, reducing the dependency on surgeon dexterity and improving the accuracy of procedures like vertebrae fusion.
Implementation Method 1
sensing the force with a load cell
Implementation Method 2
activating motors within robot arm using the computer processor; moving the robot arm with the motors
Data Source
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AI summary
A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.