Surgical Robotic Arm Alignment via Projected Optical Patterns
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Solution Overview
Problem
The setup of surgical robotic systems is time-consuming and prone to errors due to manual positioning of robotic arms around a surgical table, which can lead to collisions and inadequate access for bedside staff.
Innovation Solution
A method and system that utilize graphical user interfaces to guide the alignment of mobile carts and robotic arms, with alignment patterns projected onto the surgical table to ensure accurate and consistent positioning, allowing users to lock in angles and positions for precise setup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of robotic arms is used, then the setup process is simple to operate, but the setup time increases and positioning precision deteriorates
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated optical alignment system. Alignment modules with projectors automatically project alignment patterns onto the surgical table, and sensors detect these patterns to determine cart positions. This substitution of mechanical manual positioning with optical-electronic automated positioning resolves the contradiction by providing both high precision and reduced setup time.
Solution Approach 2:
The system implements self-alignment capability where the mobile carts equipped with alignment modules automatically determine their own positioning relative to the surgical table. The alignment patterns are projected and detected automatically without requiring manual measurement or calculation by operators, enabling the system to self-position accurately and efficiently.
2Reliability
If manual positioning of robotic arms is used, then the device complexity is low, but the reliability of positioning deteriorates
Solution Approach 1:
The patent introduces alignment modules with projectors and sensors that replace manual positioning methods. These modules automatically project alignment patterns and detect positions, providing reliable and consistent positioning. The automated optical system eliminates human error and variability, significantly improving positioning reliability despite the added device complexity.
Solution Approach 2:
The system incorporates feedback mechanisms where sensors detect the alignment patterns projected onto the surgical table and provide position information back to the control system. This closed-loop feedback ensures accurate positioning by continuously monitoring and adjusting cart positions based on detected alignment patterns, thereby improving positioning reliability.
3Manufacturing precision
If manual positioning of robotic arms is used, then the ease of operation is high, but the consistency of setup deteriorates
Solution Approach 1:
The patent replaces manual positioning operations with automated alignment modules that consistently project alignment patterns and detect positions. This automated optical system ensures that every setup follows the same precise procedure, eliminating variability between different operators and setups, thereby achieving high setup consistency.
Solution Approach 2:
The alignment modules perform self-alignment by automatically projecting patterns and detecting their own position relative to the surgical table. This self-service capability ensures that the same alignment criteria are applied consistently in every setup scenario, regardless of which operator performs the setup, thus improving setup consistency.
4Object-affected harmful factors
If manual positioning of robotic arms is used, then the device complexity is low, but the risk of collisions increases
Solution Approach 1:
The system uses sensors to detect alignment patterns and provide real-time position feedback for each mobile cart. This feedback mechanism enables the system to monitor the positions of multiple carts and their robotic arms, allowing operators to adjust positions to avoid collisions before they occur, thereby reducing collision risk.
Solution Approach 2:
The automated alignment system with projectors and sensors provides precise positioning information that helps operators plan and execute safe positioning of multiple robotic arms. The optical measurement system enables accurate determination of spatial relationships between carts and arms, reducing the likelihood of collisions compared to manual estimation methods.
Data Source
AI summary
A process for setting up a surgical robotic system having a plurality of mobile carts, each supporting a setup arm coupled to a robotic arm includes configuring the setup and robotic arms into desired configurations. In addition, an alignment module projecting an alignment pattern is rotated to a desired bedside angle. Thereafter, the mobile cart is moved to a surgical table until the alignment pattern is parallel to the surgical table with the setup and robotic arms locked into their configuration to couple to a corresponding access port.