Surgical Robot Arm Automated Trajectory Planning
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Solution Overview
Problem
Current surgical robotic systems require significant manual effort and time for setting up robotic arms during minimally-invasive surgeries, which is prone to human error and can result in collisions with patients, tables, and other objects.
Innovation Solution
A robot-assisted setup process that automatically positions and orients one or more robotic arms for surgical procedures by determining planned trajectories based on the surgical procedure, avoiding collisions with patients and other arms, and reducing setup time from twenty minutes to three minutes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual setup of robotic arms is performed, then the operator can position and orientate the arms, but the setup time is significant (at least twenty minutes per arm) and prone to human error
Solution Approach 1:
The robotic system performs self-positioning and self-orientation of robotic arms using automated control systems. The processor determines planned trajectories and autonomously guides the robotic arms to target positions, eliminating the need for manual setup operations and reducing setup time from twenty minutes to three minutes per arm.
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated control system that uses processors to calculate trajectories and control signals. The mechanical manipulation by operators is substituted with electronic control signals that automatically guide the robotic arms along predetermined paths to their target positions.
2Ease of operation
If manual manipulation of robotic arms is performed, then the arms can be positioned, but collisions with patients, tables, and other objects may occur
Solution Approach 1:
The system incorporates sensors that detect the positions of robotic arms, patients, tables, and other objects in the surgical environment. This feedback information is continuously monitored by the processor, which adjusts the planned trajectories in real-time to avoid collisions. The automated system responds to environmental changes and maintains safe operation by constantly monitoring and adapting to the surgical workspace.
Solution Approach 2:
The processor acts as an intermediary between the robotic arm control system and the physical environment. It calculates safe trajectories that account for the positions of patients, tables, and other objects, serving as a mediator that prevents direct harmful interactions. The control system intermediates all movement commands to ensure collision-free operation.
3Adaptability or versatility
If multiple robotic arms are positioned manually, then each arm can be attached to corresponding trocars, but the process is time-consuming and requires repeated manual steps
Solution Approach 1:
The patent combines the positioning operations for multiple robotic arms into a single automated process. The processor simultaneously determines planned trajectories for multiple arms and coordinates their movements, merging what would otherwise be separate manual positioning tasks into one integrated automated operation. This increases productivity by handling multiple arms in parallel rather than sequentially.
Solution Approach 2:
The system performs preliminary determination of planned trajectories for all robotic arms before actual positioning begins. The processor pre-calculates the optimal paths and target positions for multiple arms based on the surgical procedure requirements, allowing the arms to be positioned efficiently without repeated adjustments or manual repositioning during the setup phase.
Data Source
AI summary
A method performed by a surgical robotic system. The method determines a surgical procedure that is to be performed using a robotic arm. The method determines, for the robotic arm, a planned trajectory based on the surgical procedure, where the planned trajectory is from a current pose of the robotic arm to a predefined procedure pose that is within a threshold distance from a trocar that is coupled to a patient. The method drives the robotic arm along the planned trajectory from the current pose to the predefined procedure pose.