Articulated Robotic Arm Tracking for Patient Table Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems for medical procedures using articulated robotic arms struggle to maintain precise positioning relative to patient tables, especially during movements, which can disrupt the alignment of robotic catheter procedures and expose operators to radiation.
Innovation Solution
A system that includes a tracking mechanism coupled to a controller, allowing the articulated robotic arm to adjust its position based on measured changes in the patient table or fiducial target, ensuring constant alignment and radiation shielding through communication with a control console and patient table interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the articulated robotic arm is manually repositioned after patient table movement, then alignment can be restored, but procedure time increases and precision is compromised
Solution Approach 1:
The tracking system continuously monitors the position of the patient table and provides real-time feedback to the controller. When table movement is detected, the controller automatically adjusts the robotic arm's position to maintain alignment, eliminating manual repositioning delays and ensuring continuous procedural precision.
Solution Approach 2:
The system performs self-correction by automatically detecting table displacement through the tracking system and adjusting the robotic arm position without operator intervention. This self-service capability maintains alignment precision while eliminating the time loss associated with manual repositioning.
2Ease of operation
If the robotic arm is detached from the rail for storage between procedures, then space is saved, but rapid repositioning capability is lost
Solution Approach 1:
The robotic arm system transitions from a static rail-mounted configuration to a dynamic mobile platform with autonomous navigation capability. The arm can be quickly detached for storage and will automatically reposition itself using the tracking system and autonomous navigation, combining storage convenience with rapid repositioning speed.
Solution Approach 2:
When detached from the rail, the robotic arm uses its autonomous navigation system to automatically return to the patient table and reposition itself without operator assistance. This self-service capability maintains operational readiness while allowing convenient storage between procedures.
3Stability of the object's composition
If fixed mounting is used for the robotic arm, then stability is improved, but adaptability to table movements is reduced
Solution Approach 1:
The system replaces fixed static mounting with a dynamic tracking system that continuously monitors patient table position and automatically adjusts the robotic arm's coordinates. This dynamic adaptation maintains mounting stability while providing full adaptability to table movements throughout the procedure.
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 precise and automatic adjustment of the robotic arm's position in response to patient table movements, maintaining alignment during procedures and ensuring operator safety by minimizing radiation exposure.
Implementation Method 1
a tracking system coupled to the controller and configured to measure a change in a position of the patient table
Data Source
AI summary
A system for controlling the position of an articulated robotic arm includes a robotic catheter procedure system having the articulated robotic arm and a controller coupled to the articulated robotic arm. The system further includes a tracking system coupled to the controller and configured to measure a change in a position of a patient table positioned proximate to and separate from the articulated robotic arm. The controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table.