Robotic Surgical Setup Using Accessory Element Position Detection
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Solution Overview
Problem
The setup of robotic systems relative to patients for medical procedures can be difficult and time-consuming, particularly for less-experienced personnel, due to factors such as the type of procedure, patient characteristics, and site layout.
Innovation Solution
A system that uses sensors to identify a group of surgical accessory elements within a scene and performs operations to position robotic system components relative to these elements based on their positions, utilizing markers and machine learning algorithms for precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If manual setup methods are used for robotic systems, then flexibility in adapting to different procedures and patients is maintained, but setup time increases and accuracy decreases
Solution Approach 1:
The system performs preliminary actions by pre-defining multiple preset configurations for different surgical procedures. Each preset configuration contains pre-programmed parameters for manipulator arm positions, instrument trajectories, and surgical site geometry. Before a procedure begins, the appropriate preset configuration is selected and loaded, eliminating the need for time-consuming manual setup. The system then automatically adapts these pre-configured parameters to the specific patient anatomy and surgical requirements, achieving both rapid deployment and procedure-specific customization.
2Measurement precision
If automated sensor-based identification is implemented, then setup accuracy improves, but system complexity increases
Solution Approach 1:
The system introduces surgical accessory elements (such as markers, fiducials, or reference objects) as intermediaries between the robotic system and the patient anatomy. These elements serve as measurable reference points that the sensors can easily detect and track. The accessory elements are placed at known positions relative to the surgical site, providing a bridge that enables accurate alignment without requiring direct complex measurement of anatomical landmarks. This intermediary approach simplifies the measurement process while maintaining high precision.
3Measurement precision
If comprehensive sensor data processing is used, then setup accuracy improves, but processing time increases
Solution Approach 1:
The system segments the comprehensive sensor data processing into distinct hierarchical levels. At the first level, raw sensor data is filtered and pre-processed to extract key features (such as marker positions, edge detections, or template matches). At the second level, these extracted features are assembled into meaningful geometric representations of the surgical site. At the third level, the processed information is used for final alignment calculations. This segmented approach reduces computational complexity at each stage while maintaining overall accuracy, enabling faster processing compared to analyzing all raw data simultaneously.
Data Source
AI summary
An illustrative setup system may be configured to identify, based on data representative of a scene as captured by one or more sensors, a group of surgical accessory elements within the scene, and perform, based on information representative of one or more positions of the group of surgical accessory elements within the scene, an operation for setup of one or more components of a robotic system relative to the group of surgical accessory elements.