Robotic Arm Positioning for Surgical Port Imaging Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Intracranial surgical procedures face challenges due to incompatibility of existing optical imaging devices, poor image stabilization, misalignment, and difficulty in tracking the access port's position and orientation, especially in port-based surgeries, which hinder effective navigation and imaging.
Innovation Solution
An intelligent positioning system that includes an automated arm assembly with a multi-joint arm, a detection system, and a control system to adaptively configure the end effector's position and orientation relative to a target, such as a surgical port, using a predetermined coordinate frame, allowing for precise alignment and tracking of imaging devices during medical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a camera is manually aligned to image the access port, then the imaging device can be positioned, but it is susceptible to misalignment due to being knocked, agitated, or inadvertently moved by personnel
Solution Approach 1:
The patent replaces manual mechanical alignment with an automated robotic arm system that uses computer-controlled positioning mechanisms. The robotic arm can be precisely positioned to align the imaging device with the access port without manual intervention, eliminating the instability caused by personnel movement while maintaining alignment capability.
2Ease of manufacture
If optical imaging devices are used for port-based imaging, then imaging capability is provided, but image quality is poor due to glare, excessive fluids, and occlusion of view
Solution Approach 1:
The robotic arm system provides dynamic positioning capability, allowing real-time adjustment of the imaging device angle and position to optimize the viewing path through the access port. This dynamic adjustment enables the system to navigate around obstacles such as fluids and occlusions, maintaining image quality despite the challenging port-based surgical environment.
3Adaptability or versatility
If the access port is manipulated intraoperatively to access different areas, then surgical flexibility is improved, but tracking the spatial position and pose of the access port becomes difficult
Solution Approach 1:
The system incorporates tracking devices that continuously monitor the position and orientation of the access port, providing real-time feedback to the control system. This feedback loop enables the robotic arm to automatically adjust the imaging device's position to maintain proper alignment with the moving access port, managing the tracking complexity through automated control.
4Ease of manufacture
If imaging sensors are used for port-based imaging, then imaging function is provided, but image stabilization is poor due to vibrations and settling time
Solution Approach 1:
The patent replaces manual camera positioning with a robotic arm system that provides stable, computer-controlled positioning. The robotic arm's precision mechanisms minimize vibrations and eliminate the settling time associated with manual adjustments, while the automated system maintains consistent imaging function throughout the procedure.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.