Robotic Arm Starting Pose for Surgical Registration Accuracy
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Solution Overview
Problem
Existing robotically-assisted surgical systems face challenges in accurately guiding and controlling surgical tools for joint replacement procedures, particularly in creating precise planar surfaces and pilot holes in bones, which affect the alignment and biomechanics of prosthetic components.
Innovation Solution
A surgical system with a robotic arm and tracking system that automatically moves to a starting pose for registration or calibration, using a controller to guide the robotic arm to a precise starting position, enabling accurate creation of planar surfaces and pilot holes with robotic assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of the robotic arm is used for registration or calibration, then the system requires less automation, but the accuracy and efficiency of positioning deteriorates
Solution Approach 1:
The robotic arm performs self-positioning and self-calibration through automated movement to predetermined starting poses. The system uses self-contained sensors and controllers to autonomously complete registration routines without requiring manual intervention, thereby achieving high positioning accuracy while maintaining operational simplicity.
Solution Approach 2:
The system automatically moves the robotic arm to predetermined starting poses before surgical procedures begin. This preliminary automated positioning ensures that the robotic arm is correctly calibrated and registered in advance, improving measurement precision while reducing the need for complex manual setup during surgery.
2Manufacturing precision
If automated movement to starting pose is implemented, then positioning accuracy improves, but system complexity increases
Solution Approach 1:
The robotic arm is designed with multi-functionality, serving both as a surgical tool and as a self-calibrating platform. The same robotic mechanism used for surgical tasks also performs automated movement to starting poses and registration routines, thereby achieving high alignment precision without significantly increasing overall system complexity.
Solution Approach 2:
The system incorporates sensors and controllers that provide real-time feedback during automated movement to starting poses. This feedback mechanism enables the robotic arm to autonomously adjust its position and orientation, ensuring precise alignment while using existing system components rather than adding complex external positioning devices.
3Reliability
If registration routine is performed manually, then setup time is reduced, but the reliability of surgical guidance deteriorates
Solution Approach 1:
The robotic arm autonomously performs registration and calibration routines without requiring manual operation. The system uses its own sensors, controllers, and movement capabilities to complete the registration process, thereby ensuring high reliability of surgical guidance while minimizing the time lost to setup procedures.
Solution Approach 2:
The system automatically completes registration and calibration routines before the surgical procedure begins. By performing these critical reliability-enhancing actions in advance through automation, the system ensures accurate surgical guidance is established without requiring time-consuming manual setup during the actual surgery.
Data Source
AI summary
A surgical system includes a robotic arm and a controller programmed to determine an approach area for the robotic arm based on whether a surgery is to be performed on a right or left side of a patient, check whether the robotic arm is in the approach area, and, in response to the robotic arm being in the approach area, control movement of the robotic arm to a starting pose for a registration or calibration routine for the robotic arm.