Robotic Medical Material Delivery With Virtual Boundary Control
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Solution Overview
Problem
Existing delivery systems struggle to accurately track and maintain the position of a delivery device relative to a target site during medical procedures, especially when patient movement occurs, leading to inconsistent material delivery patterns and flow rates.
Innovation Solution
A delivery system comprising a robotic manipulator with joint motors, a navigation system, and controllers that utilize a virtual model and boundary to track and control the delivery device's position and flow rate, ensuring precise material delivery within defined constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic manipulator is used to position the delivery device, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic manipulator system that uses navigation data to automatically position the delivery device. The robotic manipulator receives positioning commands from the navigation system and autonomously adjusts the delivery device's position and orientation, eliminating the need for manual mechanical adjustment while achieving sub-millimeter positioning precision.
2Manufacturing precision
If navigation tracking is implemented to monitor patient movement, then delivery accuracy is improved, but system complexity increases
Solution Approach 1:
The navigation system continuously tracks the relative positions of the delivery device and target site, providing real-time feedback to the control system. When patient movement is detected, the navigation system updates the positioning data and sends correction commands to the robotic manipulator, which automatically adjusts the delivery device's position to maintain accurate alignment with the target site.
3Stability of the object's composition
If real-time position adjustment is performed to accommodate patient movement, then material delivery consistency is improved, but control complexity increases
Solution Approach 1:
The system pre-establishes the virtual boundary based on the treatment plan before material delivery begins. The robotic manipulator is programmed with the boundary constraints and delivery parameters in advance, allowing it to automatically adjust its position and control material flow rate without requiring complex real-time calculations or manual intervention when patient movement occurs.
Data Source
AI summary
Delivery systems and methods for delivering a material to a target site. A delivery instrument is coupled to a robotic manipulator and includes a delivery device with a distal tip having an opening to deliver the material to the target site. Controller(s) obtain a virtual model of the target site and a virtual boundary associated with the virtual model. The controller(s) register, using a navigation system, the virtual model and the virtual boundary to the target site and control the robotic manipulator to move the distal tip of the delivery device with respect to the target site. The controller(s) detect that distal tip of the delivery device either is, or will, interact with the virtual boundary, and in response, control the robotic manipulator to move the distal tip away from the virtual boundary.