Stereoscopic Camera Robotic Arm Force Feedback
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Solution Overview
Problem
Current surgical visualization tools, such as surgical loupes and microscopes, are cumbersome and restrictive, causing discomfort and limiting mobility for surgeons during microsurgery procedures due to their weight and bulkiness, which hinders the surgeon's ability to maintain optimal positioning and control.
Innovation Solution
A stereoscopic robotic system with a robotic arm and camera that allows for flexible positioning and orientation, providing high-resolution images without jitter, and enabling surgeons to operate comfortably in any desired position, reducing the physical and mechanical limitations of traditional visualization systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surgical loupes with magnifying lenses and light sources are used, then magnification capability is improved, but weight increases causing discomfort and fatigue
Solution Approach 1:
The patent extracts the heavy magnification system (surgical loupes) from the surgeon's head and relocates it to a separate, stationary microscope positioned above the surgical site. This allows the surgeon to view the surgical field through a camera and display system without bearing the weight of the magnification optics, thereby maintaining magnification capability while eliminating weight-induced fatigue.
Solution Approach 2:
The patent introduces a camera system as an intermediary between the surgical site and the surgeon's eyes. Instead of the surgeon directly using heavy magnifying loupes, the camera captures the magnified view and transmits it to a display, allowing the surgeon to see high-magnification images without physically supporting the weight of the optical system.
2Measurement precision
If surgical microscopes with large arrays of optical elements are used, then magnification is improved, but the bulkiness consumes considerable operating space and reduces surgical stage size
Solution Approach 1:
The patent extracts the bulky optical system from the direct surgical path and positions it above the surgical site on a vertical column. This vertical arrangement allows the microscope to provide high magnification without encroaching on the horizontal surgical stage area, maintaining both magnification capability and adequate surgical working space.
Solution Approach 2:
The patent transitions the microscope arrangement from a horizontal configuration (where the optical path would consume surgical stage space) to a vertical configuration. By positioning the microscope above the patient and directing the optical path downward, the system achieves high magnification while preserving the horizontal surgical stage area for surgical instruments and surgeon movement.
3Ease of operation
If surgical loupes are attached to the surgeon's head, then portability is improved, but mobility is limited due to the cable connection to remote power supply
Solution Approach 1:
The patent extracts the power supply and cable connection from the surgeon's head-mounted system and relocates them to the stationary microscope base. This allows the surgeon to move freely within the operating room without being constrained by a cable, while the microscope remains fixed and connected to power and control systems.
Solution Approach 2:
Instead of making the surgeon and their equipment stationary (as required by cable-connected head-mounted loupes), the patent inverts the arrangement by making the heavy equipment stationary and the surgeon mobile. The microscope remains fixed in position while the surgeon can freely approach and reposition around the patient.
4Adaptability or versatility
If surgical tools that change or alter surgical methods are introduced, then functionality is improved, but surgeon control and preference are reduced
Solution Approach 1:
The patent incorporates a camera system that provides real-time visual feedback of the surgical field to the surgeon through a display. This allows the surgeon to see the magnified view and adjust their position and angle to achieve the desired perspective, maintaining control over the surgical process while utilizing the enhanced magnification capability of the microscope system.
Data Source
AI summary
A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and rotational forces imparted by the operator.