Surgical Robot Visual Guidance for Arm-to-Patient Alignment
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Solution Overview
Problem
Conventional surgical robots face challenges in accurately positioning their arms with respect to patients due to reliance on indicator lights that only indicate the direction of movement on the floor surface, lacking precise alignment with the patient.
Innovation Solution
A surgical robot system equipped with an imaging device and a display that superimposes guide information on the moving direction of the medical cart based on the steering angle, allowing operators to accurately position the manipulator arm relative to the patient by visualizing the relative positional relationship.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an indicator light is used to indicate the moving direction of the base or cart on the floor surface, then the operator can easily understand the moving direction on the floor, but the arm cannot be accurately positioned with respect to the patient
Solution Approach 1:
The patent transitions from two-dimensional floor surface indication to three-dimensional spatial guidance by projecting guide information that includes both horizontal moving direction and vertical height information. The guide information is displayed in a manner that represents three-dimensional space, allowing the operator to understand not only the direction on the floor but also the required height adjustment to position the arm accurately over the patient.
Solution Approach 2:
The patent introduces a display device as an intermediary between the indicator light system and the operator. Instead of relying solely on physical indicator lights on the floor, the system uses a display to show guide information that combines directional data with height information, providing a more comprehensive guidance mechanism that helps the operator accurately position the arm relative to the patient.
2Productivity
If only the moving direction on the floor surface is indicated, then the cart movement can be controlled, but the relative positional relationship between the arm and the patient cannot be visualized
Solution Approach 1:
The patent merges multiple types of information (moving direction on floor, height position, and relative positional relationship with patient) into a single integrated guide information display. This combination allows the operator to control cart movement while simultaneously visualizing how the arm's position relates to the patient, eliminating the need for separate indication systems.
Solution Approach 2:
The system adds vertical height dimension information to the horizontal moving direction indication. By displaying guide information that encompasses three-dimensional spatial relationships, the operator can control cart movement on the floor while also understanding the vertical positioning required to achieve accurate arm-to-patient alignment.
3Device complexity
If manual operation of the cart or setup assembly is used to position the base, then the system remains simple, but the arm positioning accuracy with respect to the patient is insufficient
Solution Approach 1:
The patent implements a feedback mechanism where guide information is displayed based on the current position and orientation of the cart and arm, showing the operator the relationship between the arm's position and the patient. This visual feedback allows manual operators to make informed adjustments to achieve accurate positioning without requiring complex automated positioning systems.
Solution Approach 2:
The system performs preliminary calculation and display of guide information that indicates the required moving direction and height adjustment before the operator moves the cart. This preliminary guidance helps the operator plan the positioning action to achieve accurate arm-to-patient alignment, improving precision without adding complex automated control mechanisms.
Data Source
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AI summary
A surgical robot (1) includes a controller (31c) configured or programmed to control a display (33a) to superimpose guide information (GL) indicating a moving direction of a medical cart (3) based on a steering angle of a steering device (35) on an image captured by an imaging device (51) and display the guide information.