Robotic Surgical Positioning Using 3D Mesh Collision Simulation
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Solution Overview
Problem
Conventional methods for positioning a robotic surgical system in an operating room are imprecise, leading to potential collisions among components and requiring time-consuming repositioning, which hinders efficient surgical procedures.
Innovation Solution
A method involving simulation-based positioning using generated meshes to represent robotic surgical system components, including primitive mesh generation, adjustment, resampling, and simplification to reduce computational delays, followed by virtual environment simulations to determine optimal placement without collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional positioning methods are used, then the robotic surgical system can be positioned in the operating room, but the positioning is imprecise leading to potential collisions among components
Solution Approach 1:
The system performs preliminary virtual positioning simulations before actual surgical procedure setup. Multiple candidate positions are evaluated in advance using virtual environment simulations that detect potential collisions among robotic components, allowing the surgical team to select optimal positions that avoid conflicts before the actual procedure begins.
Solution Approach 2:
The system creates virtual copies (digital twins) of the robotic surgical system components and operating room environment. These virtual models are used to simulate and evaluate positioning scenarios without physical manipulation, enabling precise prediction of component spatial relationships and collision risks before physical setup.
2Productivity
If conventional positioning methods are used, then the robotic surgical system can be positioned, but time-consuming repositioning is required
Solution Approach 1:
The system performs preliminary virtual positioning simulations before actual surgical procedure setup. Multiple candidate positions are evaluated in advance using virtual environment simulations that detect potential collisions among robotic components, allowing the surgical team to select optimal positions that avoid conflicts before the actual procedure begins.
Solution Approach 2:
The system replaces physical trial-and-error repositioning with virtual simulation-based positioning. Instead of physically moving and adjusting the robotic system multiple times to find the correct position, the system uses computational simulations to evaluate multiple candidate positions virtually, eliminating the need for repeated physical repositioning operations.
3Measurement precision
If multiple candidate positions are evaluated using detailed 3D models, then positioning accuracy is improved, but computational delays increase
Solution Approach 1:
The system segments the complex 3D models of robotic components into simplified representations for simulation purposes. By dividing the complex geometric models into manageable segments and using hierarchical simplification, the system maintains sufficient positioning accuracy while significantly reducing computational complexity and simulation time.
Solution Approach 2:
The system applies different levels of detail to different parts of the 3D models based on their importance for collision detection. Critical areas where collisions are most likely occur are maintained with high detail, while less critical areas are simplified, allowing the system to achieve sufficient positioning accuracy without the computational cost of fully detailed models throughout the entire scene.
Data Source
AI summary
Embodiments of the present invention relate to a method to position a robotic surgical system. The method includes generating a first three-dimensional (3D) model of the robotic surgical system, a second 3D model of a patient, and a planned surgical pathway. The first 3D model is represented by a set of polygon meshes but not by any volumetric mesh. The method includes selecting a first candidate position to position the first 3D model in a virtual environment, simulating movements or rotations of the first 3D model in the virtual environment; and determining whether a collision associated with the first 3D model occurs based on the simulated movements or rotations. The method includes generating status information of the first candidate position.