Surgical Robot Cartesian Positioning for Accurate Instrument Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical robots using articular arm systems are prone to errors due to increased joint inaccuracies, making precise localization of surgical instruments within the body challenging.
Innovation Solution
A surgical robot utilizing a Cartesian positioning system with independent control over x-, y-, and z-axes, allowing for precise movement and rotation of the surgical instrument without affecting these axes, and incorporating a surveillance marker system to maintain tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articular arm system with rotational joints is used, then the robot can achieve complex positioning, but the error level increases over each joint making precise localization difficult
Solution Approach 1:
The robot arm is divided into multiple segments (first robotic arm segment, second robotic arm segment) that can be independently positioned and oriented. Each segment has its own coordinate system and can be controlled separately, allowing the system to achieve complex positioning while maintaining precision by avoiding error accumulation through sequential rotational joints.
Solution Approach 2:
The patent replaces the traditional articular arm mechanism with rotational joints with a Cartesian positioning system using linearly movable segments. The first robotic arm segment is movable along the x-axis, the second along the y-axis, eliminating complex rotational joint errors while achieving the same positioning versatility through linear motion decomposition.
2Ease of operation
If rotational joints are used in the articular system, then movement flexibility is improved, but joint inaccuracies accumulate making error-prone operation inevitable
Solution Approach 1:
The robotic arm segments are designed to be dynamically movable along linear axes rather than through fixed rotational joints. The first segment moves along the x-axis and the second along the y-axis, providing movement flexibility equivalent to articular systems while maintaining reliability through linear motion that does not accumulate joint errors.
3Measurement precision
If a Cartesian positioning system with independent axis control is used, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The robotic arm segments are designed to serve multiple functions: the first segment provides both x-axis positioning and serves as a mounting structure for the second segment, which provides y-axis positioning. This multi-functionality reduces overall system complexity while maintaining the precision benefits of independent axis control.
Solution Approach 2:
The second robotic arm segment is positioned on and nested within the first robotic arm segment structure. The second segment can move along the y-axis while being supported by the first segment's x-axis positioning mechanism, creating a compact nested arrangement that reduces device complexity while maintaining independent axis control capability.
Data Source
AI summary
A medical robot system, including a robot coupled to an end effector element with the robot configured for controlled movement and positioning. The robot system includes a robot base having a display, a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base. The end-effector is coupled to the robot arm, containing one or more end-effector tracking markers. The system also includes a plurality of dynamic reference bases (DRB) attached to multiple patient fixture instruments, wherein the plurality of dynamic reference bases include one or more tracking markers indicating a position of the patient fixture instrument in a navigational space. The system also includes a first camera system and a second camera system, the first and second camera systems being able to detect a plurality of tracking markers.