Articulated Robotic Arm Feedback Control During Patient Table Motion
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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 controller coupled to an articulated robotic arm, a patient table, and a tracking system, allowing the controller to adjust the robotic arm's position based on measured changes in the table's position, ensuring constant alignment and radiation shielding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm is removed from the rail and placed on the floor or in storage between procedures, then the system becomes more flexible and easier to store, but the positioning precision and alignment relative to the patient table is lost
Solution Approach 1:
The robotic arm system transitions from a static rail-mounted configuration to a dynamic mobile platform with wheels, allowing it to move between stored position and operational position. The mobile platform includes a positioning system with sensors and actuators that enable dynamic adjustment of the robotic arm's position and orientation relative to the patient table, maintaining precision despite mobility.
2Manufacturing precision
If the robotic arm is mounted to move with the patient table, then positioning precision is maintained during table movements, but the device complexity increases
Solution Approach 1:
The system incorporates a tracking system with sensors that continuously monitor the patient table's position and movements. This feedback information is transmitted to the robotic arm's control system, which automatically adjusts the robotic arm's position to maintain precise alignment with the patient table throughout the procedure, compensating for any table movements in real-time.
Solution Approach 2:
A mobile platform with positioning mechanisms serves as an intermediary between the fixed floor and the movable patient table. This platform includes wheels for mobility, a positioning system for precise location adjustment, and mounting mechanisms for securing the robotic arm, thereby simplifying the connection while maintaining precision.
3Device complexity
If the robotic arm remains stationary on the rail, then the system structure is simpler, but the alignment with the patient table cannot be maintained during table movements
Solution Approach 1:
The tracking system continuously monitors patient table position and provides real-time feedback to the robotic arm's positioning system, enabling automatic adjustment to maintain alignment throughout procedural movements and ensuring reliable positioning despite table mobility.
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 patient table positioned proximate to and separate from the articulated robotic arm and a tracking system coupled to the controller and configured to measure a change in a position of the patient table. The controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table.