Software Single-Axis Lock for Medical Robot Tool Movement
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Solution Overview
Problem
Current stereotactic procedures face challenges in maintaining accuracy and safety due to brain shifts during procedures, as existing mechanical methods require rigid head frames and pre-planned paths derived from outdated images, which can be uncomfortable and time-consuming, and frameless systems require line of sight, limiting flexibility and accuracy.
Innovation Solution
A software-enabled single-axis lock system for robotic arms allows for automated movement along a single axis, enabling precise control of surgical tools during procedures like biopsies, even within MRI environments, by using computer systems to simulate, plan, and execute movements based on real-time data and user inputs, effectively restricting movement to a predefined axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical restraints (rigid head frames) are used to restrict tool movement to a single axis, then movement precision along the Z-axis is improved, but patient comfort and procedure time deteriorate
Solution Approach 1:
The patent replaces mechanical restraints (rigid head frames) with a software-based single-axis lock system that electronically constrains robotic arm movement to a predefined path. The master controller uses software algorithms to nullify inputs in X and Y coordinates while allowing Z-axis movement, eliminating the need for mechanical attachment to the patient's head while maintaining movement precision.
Solution Approach 2:
The system dynamically changes the operational parameters of the robotic arm by implementing software-based coordinate constraints. The master controller modifies the control signals to restrict movement along specific axes while allowing movement along the intended axis, transforming the control paradigm from mechanical physical constraints to software parameter-based constraints.
2Manufacturing precision
If mechanical restraints (rigid head frames) are used to restrict tool movement to a single axis, then tool path accuracy is improved, but procedure time and complexity deteriorate
Solution Approach 1:
The patent eliminates time-consuming mechanical frame attachment and removal procedures by implementing a software-based single-axis lock system. The robotic arm is positioned and oriented using standard frameless stereotactic techniques, then the software constraint is applied programmatically, eliminating the need for rigid head frame attachment while maintaining tool path accuracy.
Solution Approach 2:
The system performs preliminary positioning and orientation of the robotic arm using frameless stereotactic navigation, then applies the single-axis software constraint before the actual procedure begins. This preliminary setup eliminates the need for time-consuming mechanical frame attachment during the procedure itself.
3Ease of operation
If frameless stereotactic tools are used without mechanical locks, then patient comfort is improved, but tool movement control deteriorates
Solution Approach 1:
The patent replaces mechanical locking mechanisms with a software-based single-axis lock system. The master controller implements software constraints that electronically restrict the robotic arm's degrees of freedom, allowing frameless operation (maintaining patient comfort) while achieving precise single-axis movement control through software algorithms that nullify unwanted motion in X and Y coordinates.
4Ease of manufacture
If pre-planned paths from outdated images are used, then procedure setup is simplified, but procedural accuracy deteriorates due to brain shifts
Solution Approach 1:
The system implements real-time feedback through frameless stereotactic navigation that continuously monitors and updates the robotic arm's position and orientation relative to the patient's anatomy. This allows the system to compensate for brain shifts by providing real-time positional information, maintaining accuracy despite changes in brain position during the procedure.
Solution Approach 2:
The system transitions from static pre-planned paths based on outdated images to dynamic real-time navigation that continuously adapts to the patient's actual anatomy. The frameless stereotactic system provides dynamic positional feedback, allowing the pre-planned path to be adjusted in real-time to account for brain shifts and maintain procedural accuracy.
Data Source
AI summary
Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.