Surgical Robotic Arm Pose Boundary for Reachable Instrument Stroke
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Solution Overview
Problem
Robotic arm systems in medical procedures face challenges in determining the initial pose that allows for the minimum stroke length necessary to reach target regions within a patient's anatomy, which can result in the inability to perform procedures due to insufficient reach.
Innovation Solution
A system comprising a robotic arm, processor, and memory that maps the patient's anatomy to determine the minimum stroke length and provide an indication of the boundary for the initial pose of the robotic arm, ensuring the robotic arm can reach the target region during setup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the robotic arm is positioned to reach deep target regions within patient anatomy, then the stroke length increases, but the initial pose boundary expands making setup more complex
Solution Approach 1:
The system performs preliminary anatomical mapping and pre-calculates the boundary for the initial pose of the robotic arm before the actual procedure setup. This allows the boundary to be determined in advance based on patient-specific anatomy, target region location, and required stroke length, simplifying the setup process by eliminating complex real-time calculations.
2Reliability
If the boundary for initial pose is restricted to maintain sufficient stroke length, then the robotic arm can reach target regions, but the positioning flexibility decreases
Solution Approach 1:
The system defines a specific boundary for the initial pose based on local anatomical requirements. Rather than imposing global constraints on robotic arm positioning, the boundary is locally optimized for each patient's anatomy, target region, and procedural requirements. This allows maximum positioning flexibility within the calculated boundary while ensuring sufficient stroke length for reaching the target.
3Measurement precision
If anatomical mapping and stroke length calculations are performed in real-time during setup, then accurate positioning is achieved, but the setup time increases
Solution Approach 1:
The system performs anatomical mapping and stroke length calculations as preliminary steps before the procedural setup. By pre-determining the boundary for the initial pose based on patient anatomy and target location, the system eliminates the need for complex real-time calculations during setup, thereby maintaining positioning accuracy while significantly reducing setup time.
Data Source
AI summary
Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.