Robotic Arm Collision Avoidance Intraoperative Imaging
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Surgical procedures, especially minimally-invasive ones, face challenges in accurately inserting surgical tools into the body without damaging surrounding tissues, due to inaccuracies in pre-operative diagnostic images and the risk of tool misplacement.
Innovation Solution
The implementation of a system for robotically-assisted surgery, which includes a robotic arm movable with respect to a patient and an imaging device. This system uses imaging data to guide the robotic arm's end effector to a predetermined position and orientation, while preventing collisions with the imaging device or the patient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If pre-operative diagnostic images are used to guide surgical tools, then the surgical procedure can be performed with less invasiveness, but inaccuracies in image guidance may result in tool misplacement or damage to surrounding tissues
Solution Approach 1:
The system employs real-time imaging feedback during the surgical procedure to continuously monitor and adjust the position of surgical tools. The imaging device captures live images that are displayed to the surgeon, enabling immediate correction of tool placement based on actual anatomical structures visible in real-time, rather than relying solely on pre-operative images.
Solution Approach 2:
The system performs preliminary registration of the patient's anatomy by matching pre-operative imaging data with the patient's actual surface geometry before the surgical procedure begins. This preliminary alignment establishes an accurate coordinate system that guides tool placement throughout the procedure, combining the benefits of pre-operative planning with intra-operative verification.
2Reliability
If a surgeon performs a more invasive procedure to avoid tool misplacement, then safety is improved, but procedure time, cost, and patient recovery are substantially increased
Solution Approach 1:
The system replaces manual surgical guidance with an automated robotic arm that precisely executes tool placement based on imaging data. The robotic system includes motors, sensors, and control algorithms that automatically position surgical tools with high precision, eliminating the need for more invasive manual procedures while reducing overall procedure time through efficient automated operation.
3Manufacturing precision
If a robotic arm is used to precisely position surgical tools, then accuracy is improved, but the complexity of the surgical system increases
Solution Approach 1:
The system merges the robotic arm, imaging device, and surgical tool into an integrated platform where components share common control systems and coordinate systems. The robotic arm is mechanically coupled with the imaging device, allowing synchronized movement and reducing the number of separate systems that would otherwise be required. This integration simplifies the overall system architecture while maintaining high precision.
Solution Approach 2:
The robotic arm is designed with multi-functionality to perform various surgical tasks including tool positioning, tool manipulation, and coordination with different imaging modalities. The system can adapt to different surgical procedures and tool types through software configuration rather than requiring hardware changes, reducing system complexity through versatile design.
Data Source
AI summary
Methods and systems for performing robotically-assisted surgery in conjunction with intra-operative imaging. A method includes moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device. The robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.