Force-Controlled Surgical Robot Arm for Precise Drilling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic systems in surgical applications are suboptimal for precise drilling and other tasks, leading to human and robotic errors, which can result in adverse effects on patients and are time-consuming, making them inefficient for procedures like vertebrae fusion where precise hole drilling is required.
Innovation Solution
A robot arm system with a SCARA mechanism, end effector, and activation assembly that allows for force-controlled movement, utilizing motors and a load cell to accurately position and move surgical tools based on 3D image scans, reducing manual effort and enhancing precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual drilling guidance is used by the surgeon, then flexibility and adaptability are maintained, but precision and time efficiency deteriorate due to tedium and human error
Solution Approach 1:
The patent replaces the manual mechanical guidance system with an automated robotic arm system that executes pre-planned drilling trajectories. The robotic arm incorporates motors, encoders, and control systems to automatically position and orient the drill guide tube according to 3D imaging data, eliminating the need for manual manipulation while achieving sub-millimeter precision and reducing surgical time.
Solution Approach 2:
The robotic system performs self-positioning and self-alignment through automated control algorithms that calculate optimal trajectories and execute movements without continuous human intervention. The system autonomously maintains positioning accuracy through feedback from encoders and sensors, reducing the cognitive and physical burden on the surgeon.
2Extent of automation
If current robotic systems are used for surgical applications, then automation is increased, but precision for drilling tasks deteriorates due to suboptimal design
Solution Approach 1:
The robotic arm is designed with specialized features optimized for drilling tasks, including a rigid end effector with precise angular adjustment capabilities, integrated drill guide tubes with defined trajectories, and localized force control at the tool interface. The system incorporates high-precision encoders and sensors specifically at the drilling interface to ensure sub-millimeter accuracy for hole placement and orientation.
3Measurement precision
If force-controlled movement is implemented, then precision is improved, but system complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The robotic arm is designed with multi-functional components that serve multiple purposes. The same motors and encoders used for basic positioning also enable force control when combined with the load cell. The control system integrates both position control and force control algorithms within a unified architecture, reducing overall system complexity despite the added capability. The end effector structure serves both as a mechanical interface and a force sensing platform.
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
The system minimizes errors and increases efficiency in surgical procedures by enabling precise and accurate positioning of surgical tools, reducing the burden on surgeons and improving the outcomes of operations like vertebrae fusion.
Implementation Method 1
sensing the force with a load cell
Implementation Method 2
moving the robot arm with the motors in the direction of the applied force
Implementation Method 3
moving the robot arm to a gravity well
Data Source
AI summary
A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.