Surgical Instrument Position Detection via Optical Arrays
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Solution Overview
Problem
Conventional medical robot systems lack the ability to detect the position of surgical instruments within incised regions of patients, leading to potential injuries and increased operator fatigue due to difficulty in controlling the robot to avoid these areas.
Innovation Solution
A medical robot system equipped with a surgical instrument position detection apparatus that uses photodiode arrays and light-emitting units to detect the X and Y coordinates of the instrument within a trocar, transmitting this information to a console for precise control of the surgical robot, ensuring the instrument remains within a predetermined safe range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator controls the robot arm without position detection, then the operation is simple, but the safety of the incised region is compromised
Solution Approach 1:
The patent replaces complex mechanical position detection systems with an optical detection system using photodiode arrays. The detection apparatus uses light emission and photodiode sensing to determine instrument position, substituting mechanical encoders or sensors with an optical field-based measurement approach that simplifies the mechanical structure while improving reliability.
Solution Approach 2:
The patent introduces an optical intermediary (light field) between the surgical instrument and the detection system. The photodiode arrays detect light patterns created by the instrument's position in the through-hole, using light as an intermediary carrier to transmit position information without direct mechanical contact or complex sensors.
2Ease of operation
If the operator manually controls the robot without position feedback, then the control system is simple, but the operator fatigue increases
Solution Approach 1:
The patent implements a feedback system where the photodiode arrays continuously detect the surgical instrument's position within the through-hole and provide real-time position information to the control system. This feedback loop allows the operator to see the instrument's location, enabling more precise and less fatiguing control during prolonged surgical procedures.
3Measurement precision
If no position detection is used, then the device complexity is low, but the measurement precision of instrument location is insufficient
Solution Approach 1:
The patent divides the detection task into two independent photodiode arrays: one array detects the X-coordinate position and the other detects the Y-coordinate position of the instrument. This segmentation allows each array to focus on a single dimension, simplifying the detection mechanism for each while achieving high two-dimensional position precision through coordinate calculation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the safety of robotic surgery by accurately detecting the instrument's position and controlling the robot to prevent injuries, reducing operator fatigue and improving precision.
Implementation Method 1
a sensing unit including a first photodiode array mounted in a first subframe located in a horizontal direction on the basis of a predetermined vertex of a quadrangular frame and a second photodiode array mounted in a second subframe contacting the first subframe
Data Source
AI summary
A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.