Surgical Robotic Arm Alignment Using Projected Optical Patterns
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Solution Overview
Problem
Existing robotic surgical systems face challenges in aligning and orienting robotic arms within a surgical environment, necessitating improved methods for precise positioning relative to a representative coordinate system.
Innovation Solution
An alignment unit is integrated into the surgical robotic system, projecting an alignment pattern onto a horizontal surface to facilitate manual adjustment and orientation of the robotic arm, utilizing sensors and input devices to determine and confirm alignment with a representative coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual alignment methods are used for robotic arms, then device complexity is reduced, but alignment precision and time consumption are adversely affected
Solution Approach 1:
An alignment unit is introduced as an intermediary device between the robotic arm and the coordinate system. This unit includes a light source that projects alignment patterns and a sensor that detects the robotic arm's position, mediating the alignment process to achieve precise orientation without requiring complex manual procedures
Solution Approach 2:
The patent replaces traditional mechanical alignment methods with an optical system. The light unit projects visual alignment patterns and the sensor detects positions optically, substituting mechanical measurement and adjustment mechanisms with non-contact optical fields to improve precision while maintaining relatively simple device structure
2Loss of time
If traditional alignment procedures are used, then setup time is reduced, but alignment accuracy and operational safety are compromised
Solution Approach 1:
The alignment unit incorporates a sensor that provides real-time feedback on the robotic arm's position and orientation relative to the projected alignment patterns. This feedback mechanism allows for rapid adjustment and verification, ensuring accurate alignment is achieved quickly and reliably before surgical operations begin
Solution Approach 2:
The system performs preliminary alignment actions by projecting alignment patterns onto the surgical site before the actual surgical procedure. This preliminary visualization of the coordinate system and alignment references enables quick setup and verification, ensuring operational safety is established before time-critical surgical tasks begin
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
Enables accurate and efficient alignment of robotic arms, ensuring precise positioning and alignment with the surgical environment, enhancing the operational accuracy and safety of robotic surgical procedures.
Implementation Method 1
a light unit configured to project an alignment pattern onto a horizontal surface
Implementation Method 2
a sensor configured to determine an angle of the alignment pattern relative to the robotic arm
Data Source
AI summary
A medical system includes a robotic arm, a surgical cart, a setup arm, and an alignment unit. The setup arm is mounted to the surgical cart and is configured to operatively couple to the robotic arm. The alignment unit is operatively coupled to the setup arm and configured to determine the orientation of the robotic arm relative to a representative coordinate system. A method of aligning a robotic arm with a representative coordinate system includes projecting an alignment pattern from an alignment unit onto a horizontal surface such as the floor, patient, or representative coordinate system, wherein the alignment unit is operatively coupled to a setup arm mounted to a surgical cart. A user is then prompted to manipulate the alignment pattern by adjusting the alignment unit. An input indicating that adjustments to the alignment unit are complete is then received. The method further includes determining an orientation of the alignment pattern relative to representative coordinate system a representative coordinate system, and determining an orientation of a robotic arm, operatively coupled to the setup arm, based on the determined orientation of the alignment pattern.