Surgical Robot Cartesian Positioning RF Feedback
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Solution Overview
Problem
Current surgical robots for procedures like vertebrae fusion face challenges due to complex bone structures and lack of precise robotic assistance, leading to tedious and error-prone manual processes, especially with articular arm systems that increase positional errors.
Innovation Solution
A surgical robot utilizing a Cartesian positioning system with independent control of x, y, and z axes, along with RF feedback for precise movement and alignment, allowing for accurate placement of surgical instruments without mechanical forces and deflections, and automatic adjustment for anatomical changes during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm system with rotational joints is used for surgical robot positioning, then the system can achieve flexible positioning capability, but the positional error increases with each joint in the articular system
Solution Approach 1:
The system divides the positioning function into two independent segments: a Cartesian positioning system for precise spatial location (x, y, z coordinates) and a separate orientation mechanism for roll, pitch, and yaw control. This segmentation eliminates the error accumulation inherent in articular arm systems where each rotational joint contributes to positioning errors.
Solution Approach 2:
The patent replaces the mechanical articular arm system with a Cartesian positioning system that uses linear actuators and RF feedback for position detection. This substitution eliminates the mechanical error propagation through multiple rotational joints while maintaining flexible positioning capability through independent axis control.
2Ease of operation
If manual positioning of drill guide tube is performed by surgeon using guidance system overlay, then the surgeon can visually align the drill tube with bone structure, but the process is tedious and time consuming
Solution Approach 1:
The surgical robot autonomously positions the surgical instrument according to pre-planned trajectories and real-time RF feedback, eliminating the need for continuous manual adjustment and visual alignment by the surgeon. The system self-corrects its position based on feedback from RF receivers, significantly reducing surgery time while maintaining precision.
Solution Approach 2:
The system implements real-time feedback through RF transmitters and receivers that continuously monitor the position of the surgical instrument and the patient's anatomy. This feedback loop enables automatic positioning and correction without requiring tedious manual adjustments, reducing both time and effort while maintaining ease of operation through automated control.
3Extent of automation
If conventional surgical robots are used for procedures like pedicle screw insertion, then the robots can provide automated assistance, but the procedures remain error-prone and tedious
Solution Approach 1:
The patent replaces conventional articular arm-based robotic systems with a Cartesian positioning system that uses linear actuators and RF feedback. This substitution fundamentally improves reliability by eliminating the error-prone mechanical joints while maintaining high automation levels for procedures like pedicle screw insertion.
Solution Approach 2:
The system employs continuous RF feedback to monitor both instrument position and anatomical landmarks in real-time, enabling automatic correction of positioning errors. This feedback mechanism significantly enhances procedure accuracy and reliability compared to conventional systems that rely on pre-operative planning without real-time verification.
4Strength
If beveled shaft is used for tissue cutting, then the shaft can effectively cut through tissue, but mechanical forces and deflection are created
Solution Approach 1:
Instead of using a beveled shaft that cuts through tissue by mechanical force, the patent inverts the approach by using a non-beveled shaft that ablates tissue through RF energy. This inversion eliminates the mechanical cutting action and associated shaft deflection while maintaining effective tissue penetration capability.
Solution Approach 2:
The patent replaces the mechanical cutting mechanism of beveled shafts with RF ablation technology. The RF energy generates thermal effects that vaporize and remove tissue along the shaft path, eliminating mechanical forces and deflection while achieving effective tissue cutting for procedures like epidural injections.
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
Enhances surgical precision and reduces errors by enabling accurate and independent movement of surgical instruments along multiple axes, improving the accuracy of procedures like pedicle screw insertion and epidural injections without the need for x-ray fluoroscopic techniques.
Implementation Method 1
at least one RF transmitter can be mounted on the effectuator element and/or the surgical instrument. Three or more RF receivers can be mounted in the vicinity of the surgical robot. The location of the RF transmitter and, therefore, the surgical instrument, can be accurately determined by analyzing the RF signals that are emitted from the RF transmitter.
Implementation Method 2
by measuring the time of flight of the RF signal from the transmitter to the RF receivers that are positioned at known locations, the position of the end-effectuator element with respect to a patient can be determined.
Data Source
AI summary
A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.