Stereotactic Surgery Robot Coordinate Registration for Precise Positioning
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Solution Overview
Problem
Conventional stereotactic surgery instruments face challenges in accuracy due to manual errors and the accumulation of errors across multiple axes in robot arms, leading to reduced precision and increased risk of collision during brain or nerve surgery.
Innovation Solution
A surgical robot system with a stereotactic surgery unit that moves and rotates at 5 degrees of freedom, utilizing a controller to convert coordinates from imaging data to accurately position and posture the surgical instrument based on the surgical target and entry position, reducing operational complexity and error through independent control and image registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the distance between the base and the affected portion is shortened to improve surgical accuracy, then positioning precision is improved, but the operating range of the robot arm is reduced and user movement is disrupted
Solution Approach 1:
The robot system is divided into a movable robot arm assembly and a separate base assembly. The robot arm can be positioned at different locations around the affected portion by moving the entire arm assembly relative to the base, allowing the base to be placed at an optimal position away from the surgical site while maintaining precise positioning capability through the arm's degrees of freedom.
2Device complexity
If manual stereotactic surgery instruments are used, then the structure is simple, but positioning accuracy is reduced due to reading errors and manual operation errors
Solution Approach 1:
The patent replaces manual mechanical reading and positioning with an automated vision-based system. A camera captures images of the scale markings on the robot arm, and image processing algorithms automatically determine the arm's position and orientation, eliminating human reading errors and achieving sub-millimeter positioning accuracy.
3Measurement precision
If the robot arm is disposed around the affected portion to maintain short distance, then positioning accuracy is improved, but the risk of collision with the user increases
Solution Approach 1:
The system separates the base (which remains stationary at a safe distance) from the robot arm (which performs surgical operations). The robot arm can be moved to positions around the affected portion as needed, while the base stays at a location that does not obstruct the surgeon's movement, thus eliminating collision risk while maintaining surgical accuracy.
4Ease of operation
If conventional stereotactic surgery instruments are used, then the device is simple to operate, but error correction between actual position and recognized position is complicated
Solution Approach 1:
The system continuously captures images of the robot arm's scale markings and automatically processes them to determine the arm's actual position. This real-time feedback is compared with the recognized position, and the system automatically calculates and applies corrections, making error correction transparent and simple for the operator while maintaining high precision.
Data Source
AI summary
A surgical robot system for stereotactic surgery, according to the present disclosure, may include: a stereotactic surgery unit to move and rotate a surgical instrument; a controller to receive the first imaging data that represents a three-dimensional image of a surgical portion that includes a surgical target; one or more markers to be attached to, or disposed near, the surgical portion; an imaging unit to create the second imaging data that represents a three-dimensional external image of the surgical portion; and a tracking unit to track the positions and postures of the imaging unit and the markers. The controller may create the coordinate conversion relationships for converting a coordinate from the first coordinate system of the first imaging data into the fourth coordinate system of the stereotactic surgery unit and control the stereotactic surgery unit by using the coordinate conversion relationships above.