Robotic Surgical Tool Guidance With Virtual Goal Positioning

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Solution Overview

Problem

Current compact robotic devices for surgical interventions require more user effort to position and orient the surgical tool accurately due to limited working space, which can hinder efficient treatment of anatomical structures.

Innovation Solution

A method and system that utilize a user interface to display virtual representations of anatomical structures and target regions, detect the tool tip's presence, compute a virtual goal for the robotic device's position and orientation, and adjust the display accordingly to guide the user in achieving optimal positioning and orientation for effective treatment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of stationary object

If a compact robotic device is used, then the device takes less space in the operating room and provides a good level of safety, but it requires more user effort to position the base at an appropriate location to treat the anatomical structure

Engineering Contradiction:

Improvespace occupied by robotic deviceVSAvoiduser effort to position base

Core Design Contradiction:

Area of stationary objectVSEase of operation

Solution Approach 1:

The system displays a virtual representation of the base axis and virtual goal on a user interface that updates in real-time as the user positions the robotic device. Visual feedback shows when the base is correctly positioned by displaying whether the virtual base axis is inside the virtual goal, allowing the user to easily position the compact device without excessive effort.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system creates virtual copies of the anatomical structure, target region, and base axis displayed on the user interface. These virtual representations mirror the real-world positions and orientations, providing an intuitive guide for positioning the robotic device base without requiring the user to mentally calculate complex spatial relationships.

Inventive Principle:

Principle #26Copying

2Ease of operation

If visual feedback is provided to guide positioning, then user effort is reduced, but the system complexity increases

Engineering Contradiction:

Improveease of positioning robotic deviceVSAvoidsystem complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The user interface serves multiple functions: displaying the virtual anatomical structure, showing the target region, rendering the virtual base axis, computing the virtual goal, and providing visual feedback. By consolidating these functions into a single integrated interface, the system avoids the complexity of separate systems for each function while still providing comprehensive guidance.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12114932B2Method and system for guiding position and orientation of a robotic device holding a surgical tool

Publication Date: 2024.10.15 DEPUY (IRELAND) LTD

AI summary

Methods and systems for guiding position and orientation of a robotic device holding a surgical tool are disclosed herein. For example, a method for guiding a robotic device holding a surgical tool configured for working a planned region of an anatomical structure can include detecting a presence of a distal tip of the tool in a target region on the anatomical structure, changing a visual aspect of a virtual representation of the target region when the tool tip is detected in said target region, computing a virtual goal defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region, displaying the virtual goal and a representation of a tool base axis, and changing a visual aspect of the virtual goal when the representation of the base axis is inside the virtual goal.