Motion-Assisted Surgical Positioning Arm for Constrained Repositioning
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Solution Overview
Problem
Existing surgical navigation systems require intricate manual effort for precise positioning and re-positioning of surgical instruments, which can be cumbersome and time-consuming, especially when maintaining focal distance or changing perspectives during procedures.
Innovation Solution
A motion-assisted positioning arm with a base, multiple arm segments, and joints, coupled with a processor and end effector that allows six degrees of freedom, enabling constrained movement based on detected forces and torques, and applying joint space movements to facilitate precise positioning and re-positioning of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning methods are used, then surgical instruments can be positioned with precision, but the operation becomes cumbersome and time-consuming
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic arm system controlled by a processor. The robotic arm uses sensors to detect forces and torques, and the processor automatically calculates and applies joint space movements to position the end effector, eliminating the need for intricate manual manipulation while maintaining positioning precision.
Solution Approach 2:
The system enables self-positioning through force/torque detection and automatic control. The robotic arm detects forces applied to the end effector, determines the appropriate joint movements autonomously, and executes positioning without continuous manual intervention, allowing the system to serve itself in the positioning task.
2Adaptability or versatility
If manual re-positioning is performed frequently, then surgical perspectives can be changed, but the procedure time increases
Solution Approach 1:
The robotic arm provides dynamic re-positioning capabilities, allowing the end effector to be moved quickly and smoothly between different positions and perspectives. The system can adapt to changing surgical requirements by automatically adjusting the arm configuration based on detected forces and pre-programmed trajectories, enabling rapid perspective changes without time loss.
3Measurement precision
If constrained movement modes are applied, then surgical precision is enhanced, but the system complexity increases
Solution Approach 1:
The system changes the control parameters by switching between different surgical modes (e.g., translate mode, orbit mode, stand-off mode) that define different constraint configurations. Each mode applies specific constraints to the end effector movement in the task-coordinate space, allowing precise control adapted to different surgical needs while managing complexity through mode-based parameter adjustment.
Data Source
AI summary
A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.