Surgical Robotic Cart Placement With Collision-Aware Path Planning
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Solution Overview
Problem
Movable surgical robotic systems require precise and accurate positioning relative to surgical tables for optimal performance in minimally invasive procedures, but existing systems lack efficient methods for autonomous and safe relocation, potentially leading to collisions.
Innovation Solution
A method and system for determining and calculating safe positions and paths for surgical robotic cart assemblies using sensor data and environmental maps to avoid collisions, allowing for autonomous movement and updating of positions to ensure optimal placement and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical robotic cart assemblies are made movable to improve flexibility and repositioning capability, then ease of operation and adaptability are improved, but positioning precision and collision risk increase
Solution Approach 1:
The system employs sensors (cameras, LIDAR, ultrasonic sensors) to continuously detect the cart's position and surrounding environment, feeding this information back to the control system which adjusts motor commands to achieve precise positioning. This closed-loop feedback mechanism enables accurate placement despite the cart's mobility.
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated electromechanical system featuring motorized casters, sensors, and control algorithms. This substitution enables precise controlled movement and positioning that would be difficult to achieve through manual operation alone.
2Productivity
If autonomous movement capability is added to surgical robotic cart assemblies to improve productivity and reduce manual handling, then productivity is improved, but collision risk and system complexity increase
Solution Approach 1:
The control system performs multiple functions: it processes sensor data, calculates optimal paths, controls motorized casters, and detects obstacles. By consolidating these diverse functions into a single multi-functional control unit, the system achieves autonomous movement capability while managing complexity through functional integration.
Solution Approach 2:
The patent introduces an intermediary control system that acts as a mediator between the sensors detecting environmental conditions and the motors executing movement. This intermediary layer processes information and makes decisions, enabling autonomous operation without requiring direct human intervention while managing system complexity through layered architecture.
3Adaptability or versatility
If multiple surgical robotic cart assemblies operate simultaneously to improve versatility and accommodate complex procedures, then adaptability is improved, but collision risk and positioning difficulty increase
Solution Approach 1:
Each cart is equipped with sensors that continuously monitor the positions of other carts in the operating room. This feedback information is used by the control system to dynamically adjust paths and velocities, enabling multiple carts to operate simultaneously while maintaining safe distances and avoiding collisions.
Data Source
AI summary
A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.