Robotic Instrument Alignment via Real-Time Feedback Control
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Solution Overview
Problem
Existing robotic device positioning systems face challenges with accuracy due to accidental shifts and obstructions in the reference frame, leading to registration errors and decreased tracking precision.
Innovation Solution
A system comprising a robotic arm with four or more degrees of freedom and a system controller that uses pose information and image data to plan a target trajectory, calculate positional errors, and control the robotic arm for precise alignment without manual registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an external tracking system with optical markers is used to locate the robot and establish reference frame, then the robotic system can achieve initial positioning capability, but the reference frame becomes prone to accidental shifts and obstructions, decreasing tracking accuracy and increasing registration error risk
Solution Approach 1:
The system continuously tracks the actual position of the instrument during the procedure and compares it against the planned trajectory. Real-time feedback is provided through visual overlays showing deviation, enabling dynamic correction of positioning errors and maintaining accuracy despite reference frame instability.
Solution Approach 2:
The patent replaces the mechanical/optical tracking system with a computational approach using preoperative imaging data and virtual modeling. The planned trajectory is derived from CT/MRI scans and surgical planning software, eliminating the need for physical optical markers on the patient and robot, thereby removing the source of reference frame instability.
2Productivity
If manual registration is used to align the robot with the object coordinate system, then the system can establish the initial reference frame, but the process is time-consuming and prone to registration errors
Solution Approach 1:
The system performs all registration and trajectory planning actions before the actual surgical procedure begins. Preoperative imaging (CT/MRI) is used to create a virtual 3D model of the patient's anatomy, and the planned trajectory is calculated and validated in advance, eliminating the need for time-consuming manual registration during the procedure.
Solution Approach 2:
The patent creates a virtual copy of the patient's anatomy from preoperative imaging data. This digital twin allows the surgical plan to be visualized and validated in a risk-free environment before execution, ensuring accuracy without requiring manual physical registration during the actual surgery.
3Measurement precision
If the robotic arm has four or more degrees of freedom for instrument positioning, then the system achieves precise control of the instrument, but the device complexity increases
Solution Approach 1:
The robotic arm is divided into modular segments with each joint providing specific degrees of freedom. This segmentation allows the complex positioning capability to be achieved through simpler, standardized joint mechanisms rather than a single complex structure, making the system more manageable and easier to calibrate.
Solution Approach 2:
The robotic arm with 4-6 degrees of freedom is designed to perform multiple surgical tasks and adapt to different instrument types. The same robotic platform can accommodate various end effectors for different procedures, eliminating the need for multiple specialized systems and reducing overall complexity through multi-functionality.
Data Source
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AI summary
The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.