Robot Base Location Optimization for Surgical Manipulability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for placing robots in surgery rooms are manual and imprecise, leading to suboptimal robot placement that does not maximize robot manipulability and can result in inefficient surgical procedures.
Innovation Solution
A system and method for automatically determining an optimal robot base location by generating candidate base locations based on a determined trocar location, evaluating these locations for robot manipulability, and selecting the optimal base location that maximizes robot manipulability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual placement method is used, then the process is simple and quick, but the placement precision and robot manipulability are insufficient
Solution Approach 1:
The patent replaces the manual mechanical placement process with an automated computational system that uses algorithms to calculate optimal robot base locations. The system substitutes human judgment and manual measurement with computer-based optimization algorithms that automatically determine precise locations based on surgical targets and robot characteristics.
Solution Approach 2:
The system changes the approach from fixed manual placement to dynamic optimization by evaluating multiple candidate locations and selecting the optimal one based on manipulability metrics. The patent transforms the placement problem into a parameter optimization problem where the robot base location is determined by maximizing manipulability parameters rather than relying on manual estimation.
2Ease of operation
If automated optimization system is implemented, then the robot manipulability is maximized, but the system complexity and computational requirements increase
Solution Approach 1:
The system performs self-optimization by automatically evaluating candidate base locations and selecting the optimal position without requiring external manual intervention. The patent implements a self-service mechanism where the computational system independently determines the best robot placement based on pre-defined criteria and robot characteristics, eliminating the need for expert manual assessment.
Solution Approach 2:
The system performs preliminary calculations and evaluations of multiple candidate locations before final deployment. The patent computes manipulability metrics and ranks candidate base locations in advance, allowing the optimal position to be selected before the actual robot placement, thereby simplifying the on-site operation.
3Manufacturing precision
If multiple candidate locations are evaluated, then the optimal location is identified, but the computational time and processing requirements increase
Solution Approach 1:
The system evaluates a limited set of pre-defined candidate locations rather than exhaustively searching all possible positions. The patent generates a finite number of candidate base locations based on geometric constraints and surgical requirements, evaluating only these relevant candidates to achieve optimal precision without excessive computational overhead.
Solution Approach 2:
The patent divides the base location determination process into discrete candidate positions that can be independently evaluated. By segmenting the continuous space into specific candidate locations, the system can efficiently compute manipulability metrics for each candidate and select the best one, reducing the computational burden compared to continuous optimization.
Data Source
AI summary
The present teaching relates to determining an optimal robot base location that maximizes robot manipulability. A trocar location is determined for inserting a surgical instrument manipulated by a robot to reach a target organ. With respect to the trocar location, candidate base locations are generated, each of which is a location to deploy the robot for manipulating the surgical instrument through the trocar location. Each candidate base location is evaluated based on criteria indicative of the robot's manipulability of the surgical instrument with respect to the target organ. An optimal base location is selected from the candidate base locations based on the evaluation result.