Surgical Robot Motion Arm Positioning for Sterile Pre-Op Setup

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Solution Overview

Problem

Existing surgical robot systems face inefficiencies and inaccuracies in preoperative positioning and preparation processes, particularly in endoscopic surgeries, due to complex manual adjustments of motion arms and the risk of surgical contamination from improperly fitted sterile protective sleeves.

Innovation Solution

A control method for a surgical robot system that utilizes a reference motion arm to determine the positioning and orientation of following motion arms, simplifying the adjustment process and ensuring accurate placement of surgical instruments through a coordinated motion sequence, while maintaining sterile conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If manual adjustment of motion arms is used for preoperative positioning, then the surgical robot can be operated with simple equipment, but the positioning process becomes complicated and time-consuming

Engineering Contradiction:

Improvepositioning efficiencyVSAvoidadjustment process complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The system performs preliminary positioning of motion arms based on preoperative planning data before the actual surgery begins. The motion arms are automatically adjusted to predetermined positions and orientations according to the surgical plan, eliminating the need for complex manual adjustments during the surgical preparation phase.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces manual mechanical adjustment with automated control systems. The control device automatically calculates and adjusts the position and orientation of motion arms based on surgical planning data, substituting the mechanical manual adjustment process with an automated computational control system.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If manual adjustment of motion arms is used, then the system structure remains simple, but positioning accuracy decreases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidcontrol system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system incorporates feedback mechanisms where the control device continuously monitors the position and orientation of motion arms and automatically adjusts them based on surgical planning data. This closed-loop control ensures high positioning accuracy by comparing actual positions with target positions and making real-time corrections.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Reliability

If sterile protective sleeve is manually fitted on motion arm, then the isolation between sterile and bacterial sides is maintained, but the sleeve may be pulled off during connection process

Engineering Contradiction:

Improvesterile isolation reliabilityVSAvoidsleeve fitting difficulty

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The sterile protective sleeve is fitted on the motion arm in advance, before the connection to the cannula assembly. The system performs preliminary positioning and preparation with the sleeve already in place, eliminating the risk of the sleeve being pulled off during the connection process.

Inventive Principle:

Principle #10Preliminary action

4Productivity

If each motion arm is manually moved to corresponding position, then the system maintains flexibility for different surgical procedures, but the preparation time increases

Engineering Contradiction:

Improvepreparation speedVSAvoidsurgical procedure adaptability

Core Design Contradiction:

ProductivityVSAdaptability or versatility

Solution Approach 1:

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system maintains dynamic adaptability by allowing the surgical plan to be modified and the motion arm positions to be recalculated based on different surgical procedures. The automated control system can dynamically adjust the positioning parameters to accommodate various surgical requirements while maintaining efficient automated positioning.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12485542B2Robot system and control method thereof

Publication Date: 2025.12.02 BEIJING SURGERII ROBOTICS CO LTD

AI summary

A control method for controlling a robot system is provided. The robot system includes a plurality of motion arms. The plurality of motion arms include a reference motion arm and at least one following motion arm. The control method includes: controlling, based on an input command, the reference motion arm to move to a reference position and a reference orientation; determining a positioning position and a positioning orientation of the at least one following motion arm based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and controlling the at least one following motion arm to move to the positioning position and the positioning orientation.