Robotic Arms for Tissue Resection and Imaging
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Solution Overview
Problem
Existing methods for treating tissues, such as prostate surgery, face challenges including longer healing times, less than ideal tissue removal, cumbersome user interfaces, and inaccuracies in planning and execution. Additionally, prior imaging systems are not well-suited for real-time imaging during surgery, leading to delays and less than ideal outcomes.
Innovation Solution
An image-guided treatment system that combines a treatment probe and an imaging probe, both coupled to robotic arms controlled by computing devices. This system allows for precise, computer-controlled movement of the probes during tissue resection and imaging, maintaining manually set positions with high accuracy and adjusting based on real-time imaging feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If robotic arms are held too rigidly, then stability is improved, but tissue injury risk increases due to inability to accommodate patient movement
Solution Approach 1:
The robotic arm system transitions from a static rigid connection to a dynamic adjustable connection. The system allows the robotic arm to be held in a fixed position during treatment while enabling adjustment when patient movement occurs, creating an adaptive system that balances stability with flexibility to prevent tissue injury.
Solution Approach 2:
The system changes the rigidity parameter of the robotic arm connection dynamically. By adjusting the rigidity level based on treatment requirements and patient movement detection, the system can maintain stability during treatment while reducing rigidity to accommodate patient movement and prevent tissue injury.
2Object-affected harmful factors
If robotic arms are held with less than ideal support strength, then tissue injury risk is reduced, but alignment accuracy deteriorates when disturbed
Solution Approach 1:
The support strength of the robotic arm is made dynamic rather than fixed. The system provides strong support during treatment to maintain alignment accuracy, then reduces support strength when patient movement occurs to prevent tissue injury, creating an adaptive balance between precision and safety.
Solution Approach 2:
The system incorporates feedback mechanisms to detect patient movement and adjust robotic arm support strength accordingly. When movement is detected, the system reduces support strength to prevent tissue injury; when the patient is stable, the system increases support strength to maintain alignment accuracy.
3Ease of operation
If manual positioning of robotic arms is performed, then ease of operation is improved, but alignment precision deteriorates compared to automated positioning
Solution Approach 1:
The robotic arm system performs self-alignment using automated sensors and feedback mechanisms to achieve precise positioning without requiring manual intervention. The system automatically detects the patient's anatomical structures and adjusts the robotic arm position to achieve accurate alignment, combining ease of operation with high precision.
Solution Approach 2:
The system replaces manual mechanical positioning with automated electronic and sensor-based positioning. Instead of relying on manual skill and physical adjustment, the system uses sensors to detect position and automated control mechanisms to achieve precise alignment, improving both ease of operation and alignment precision.
4Loss of information
If prior imaging systems are used during surgery, then imaging capability is provided, but real-time imaging accuracy and alignment with treatment images deteriorate
Solution Approach 1:
The system merges the imaging function with the treatment robotic arm system. By integrating imaging sensors and processing capabilities directly into the treatment system, the patent achieves real-time imaging that is automatically aligned with treatment images, eliminating the accuracy problems of separate prior imaging systems.
Solution Approach 2:
The imaging system incorporates real-time feedback mechanisms that continuously monitor and adjust image acquisition based on the treatment process. This feedback loop ensures that imaging remains synchronized with treatment movements, maintaining real-time accuracy and alignment between imaging and treatment images.
Data Source
AI summary
A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm.