Robotic Arm Configuration for Surgical Tracker Visibility
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Solution Overview
Problem
Existing surgical robotic systems face challenges in maintaining optimal tracker visibility during surgical operations, particularly when multiple targets are involved, leading to prolonged operating times due to the need for adjusting the robotic arm configuration and surgeon positioning.
Innovation Solution
A method and system for determining an ideal or optimal configuration of the robotic arm to maximize tracker visibility by using a localization system, considering the surgeon's position and planning information, adjusting the robotic arm's orientation to ensure clear visibility of markers, and allowing for adjustments to achieve a valid configuration if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic arm is reconfigured to maintain optimal tracker visibility when moving between multiple surgical targets, then tracker visibility is improved, but operating time increases due to repeated adjustments
Solution Approach 1:
The system pre-calculates and stores optimal robotic arm configurations for multiple surgical targets before the actual surgery. When the surgeon needs to move between targets, the system automatically retrieves and applies the pre-determined configuration, eliminating the need for real-time manual adjustments and maintaining continuous tracker visibility.
Solution Approach 2:
The localization system continuously monitors tracker visibility and provides feedback to the control system. When visibility deteriorates below optimal thresholds, the system automatically adjusts the robotic arm configuration based on pre-calculated optimal positions, ensuring continuous visibility without surgeon intervention.
2Measurement precision
If the surgeon repositions to maintain optimal operating position, then surgical precision is improved, but tracker visibility deteriorates requiring robotic arm adjustments
Solution Approach 1:
The system dynamically coordinates between surgeon positioning and robotic arm configuration based on real-time conditions. The control system evaluates both surgical precision requirements and tracker visibility, automatically adjusting the robotic arm to compensate for surgeon repositioning while maintaining both precision and visibility.
3Measurement precision
If the robotic arm configuration is optimized for one surgical target, then surgical precision for that target is improved, but tracker visibility for subsequent targets deteriorates
Solution Approach 1:
Optimal robotic arm configurations for all planned surgical targets are pre-calculated and stored in a database before surgery begins. The system considers both surgical precision requirements and tracker visibility for each target, enabling automatic retrieval and application of appropriate configurations when transitioning between targets without compromising either precision or visibility.
Data Source
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AI summary
The invention relates to a method for determining a configuration of a robotic arm to guide a surgical tool according to at least one planned target while taking into account planning information and optimizing a visibility of a robot tracker by a localization system, the robot tracker being coupled to the robotic arm or to an end-effector, the end-effector being mechanically coupled to a distal end of the robotic arm and comprising a tool holder to accommodate the surgical tool, and a patient tracker being located in proximity to the region of interest, said method comprising: defining a patient's main axis; determining a relative position of the localization system with respect to the patient's main axis; for each of the at least one planned target: determine a relative position of a surgeon with respect to the patient's main axis using the planning information; determine an ideal configuration of the robotic arm using the determined relative position of the surgeon and of the localization system with respect to the patient's main axis. The invention also relates to a system for positioning the robotic arm in said determined configuration.