Robotic Surgical Tool Pose Capture and Movement Limitation
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Solution Overview
Problem
Minimally invasive surgery is limited by the need for frequent tool changes, which can prolong procedure time, and is burdensome for surgeons due to prolonged manual operation of surgical controls.
Innovation Solution
A method and system that capture the pose of a surgical tool at a surgical site, determine the range of movement based on the captured pose, display this range on an associated image, and provide instructions to limit the robotic device's movement accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If minimally invasive surgery is performed with limited incisions, then recovery time is reduced and infection risk is lowered, but the number of tools that can be used concurrently is limited and tool changes extend procedure time
Solution Approach 1:
A single robotic arm is designed to perform multiple surgical functions by sequentially deploying different surgical tools at the same incision site. The robotic system can hold and switch between multiple tools (drill, reamer, tap, screw driver) without requiring additional incisions or tool trays, making one tool serve multiple purposes throughout the procedure.
Solution Approach 2:
Multiple surgical tools are nested within the robotic arm structure, with tools stored in a hierarchical arrangement inside the robotic arm. The robotic arm contains tool storage compartments that can hold various surgical instruments, allowing them to be accessed and deployed sequentially from the same robotic structure without requiring separate access points.
2Productivity
If minimally invasive surgery is performed with limited incisions, then recovery time is reduced and infection risk is lowered, but frequent tool changes are required which prolongs the procedure
Solution Approach 1:
Multiple surgical tools are pre-loaded into the robotic arm before the procedure begins. The robotic system is prepared with all necessary tools (drill, reamer, tap, screw driver) already positioned and ready for sequential deployment, eliminating the need for time-consuming tool changes during the surgical procedure.
Solution Approach 2:
The robotic arm maintains continuous operational capability by seamlessly transitioning between different surgical tools without interruption to the surgical workflow. The tool changes occur rapidly within the robotic arm's controlled environment, maintaining the continuity of the surgical procedure and preventing downtime between tool transitions.
3Ease of operation
If surgeons manually operate surgical controls for extended periods, then precise control is achieved, but surgeon fatigue increases
Solution Approach 1:
The robotic system performs self-positioning and self-control functions by using imaging data to automatically determine the location and orientation of surgical tools. The robotic arm autonomously adjusts its position and tool orientation based on real-time imaging feedback, reducing the need for continuous manual adjustment by the surgeon and thereby reducing fatigue during prolonged procedures.
Solution Approach 2:
The system continuously receives imaging data during the surgical procedure and uses this feedback to automatically adjust the robotic arm's position and tool orientation. This closed-loop control system provides real-time feedback, allowing the robotic system to self-correct and maintain precision without requiring constant manual intervention from the surgeon.
Data Source
AI summary
A method comprising capturing a pose of a surgical tool at a surgical site of a patient. The method includes determining a range of movement of the surgical tool at the surgical site, in response to the captured pose. The method includes displaying a representation of the determined range of movement onto an image associated with the surgical site. The method includes providing one or more instructions to limit a movement of a robotic device according to the determined range of movement.