Medical Robot Instrument Arm Pose Control for Deforming Tissue
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Solution Overview
Problem
During medical interventions, movements or deformations of the examination object can occur, making it difficult to follow pre-planned instrument paths and leading to inaccurate targeting of the intervention site, which can result in multiple attempts or even intervention abortion.
Innovation Solution
A medical engineering robot with a movable instrument arm and control device that actively adjusts the pose of the instrument arm relative to the examination object to maintain a predetermined geometry or shape, using sensors and biomechanical models to simulate and control movements, ensuring precise navigation and adaptation to changes during the intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pre-interventional image datasets are used for navigation planning, then intervention precision is improved, but reliability deteriorates due to movements or deformations of the examination object during intervention
Solution Approach 1:
The system transitions from static pre-interventional image datasets to dynamic real-time image acquisition and processing. The robot continuously acquires images during intervention and automatically adjusts navigation based on current anatomical position, making the navigation system adaptive to movements and deformations of the examination object.
Solution Approach 2:
The system implements closed-loop feedback by continuously comparing the planned instrument path with real-time detected anatomical structures. The robot automatically adjusts its navigation based on feedback from real-time imaging, ensuring the instrument remains on the correct path despite changes in examination object geometry.
2Reliability
If multiple attempts are made to reach the target region, then target acquisition may be achieved, but intervention time and stress on examination object increase
Solution Approach 1:
The system performs preliminary alignment by automatically adjusting the robot's approach based on real-time detection of the target region's current position and orientation. This preliminary action ensures the instrument is correctly positioned before attempting to reach the target, eliminating the need for multiple attempts.
Solution Approach 2:
The system replaces manual mechanical navigation with automated image-guided robotic navigation. The robot automatically calculates and executes the optimal path to the target region based on real-time imaging data, substituting human operator manual adjustment with automated computational navigation.
3Adaptability or versatility
If manual navigation is used to adapt to examination object movements, then adaptability is improved, but operation complexity and stress on medical personnel increase
Solution Approach 1:
The system performs self-navigation by automatically detecting anatomical structures, calculating the optimal instrument path, and controlling the robot's movements without requiring manual intervention. The navigation system serves itself by autonomously adapting to examination object movements and maintaining accurate targeting.
Solution Approach 2:
The system automatically changes navigation parameters such as instrument trajectory, approach angle, and positioning based on real-time detection of examination object movements. These parameter changes are computed and applied automatically without requiring manual repositioning or recalibration by medical personnel.
Data Source
AI summary
The disclosure relates to a medical engineering robot, a medical system, a method for operation thereof, a corresponding computer program, and a corresponding computer-readable storage medium. By controlling a pose of an instrument arm of the robot relative to a respective examination object to be treated or to be examined by the robot, the disclosure makes provision for automatically bringing the instrument arm into contact with the examination object and through this for setting a predetermined pose of the examination object.