Robotic Arm Link Tracker Assembly for Reliable Surgical Navigation
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Solution Overview
Problem
Conventional surgical robotic systems face challenges with bulky and manually adjustable cart trackers that are prone to damage, collisions, and require time-consuming re-registration, complicating setup and navigation due to their separation from the robotic device and susceptibility to line-of-sight obstructions.
Innovation Solution
Integrating a link tracker assembly onto the robotic arm's links, which includes optical tracking elements and a photosensor assembly, allowing for dynamic pose adjustment and simplified setup, reducing bulkiness and obstructions, and enabling seamless navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a cart tracker is coupled to the cart by a manually-adjustable setup arm, then the navigation system can track the end effector relative to the surgical site, but the system design complexity increases and the components become bulky and susceptible to damage
Solution Approach 1:
The patent merges the cart tracker with the robotic arm base, eliminating the need for a separate adjustable setup arm. The tracker is integrated directly into the base structure, reducing system complexity while maintaining tracking functionality. This integration removes the bulky adjustable arm component and its associated assembly/disassembly requirements.
2Reliability
If a manually-adjustable setup arm and cart tracker are used, then the cart tracker can be positioned for tracking, but the components become physical obstacles in the operating room and during transport
Solution Approach 1:
By integrating the cart tracker into the robotic arm base structure, the patent eliminates the separate adjustable setup arm that creates physical obstacles. The tracker becomes part of the fixed base assembly, removing the bulkiness and mobility restrictions associated with the adjustable arm configuration.
3Adaptability or versatility
If the cart tracker is physically separated from the robotic device, then the robotic device can be freely positioned, but the navigation system becomes more susceptible to losing line-of-sight with the cart tracker
Solution Approach 1:
The patent merges the cart tracker with the robotic arm base, positioning it in a fixed, accessible location that maintains line-of-sight with the robotic device throughout its range of motion. This integration ensures the tracker remains visible to the navigation system camera while allowing the robotic arm to be freely positioned for surgical procedures.
4Device complexity
If a single tracking array in a fixed setup pose is used, then the cart tracker structure is simple, but it cannot dynamically adjust its pose or control for changes in condition
Solution Approach 1:
The patent implements a dynamic tracker system with multiple tracking arrays that can be selectively activated and positioned based on the robotic arm's configuration and surgical needs. The system can dynamically adjust which tracking arrays are active and their corresponding poses, providing adaptability while maintaining a relatively simple overall structure compared to fully adjustable mechanisms.
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 integrated link tracker assembly simplifies setup, reduces the risk of collisions, and enhances navigation accuracy by providing a robust and adaptable tracking system that maintains line-of-sight, thereby improving surgical robotic system efficiency and sterility.
Implementation Method 1
a photosensor assembly located on the link surface of at least one link of the plurality of links
Data Source
AI summary
Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.