Surgical Robot End-Effector Positioning Accuracy
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Solution Overview
Problem
Current robotic-assisted surgical systems are error-prone, tedious, and limited in precision due to manual handling and lack of mechanical feedback, especially in procedures involving complex bone structures like vertebrae, leading to safety hazards for both patients and surgeons.
Innovation Solution
A surgical robot system with a dynamically controlled robot arm, end-effector, and integrated sensors for precise positioning and tracking, along with a dynamic reference base and planning software, to accurately locate anatomical structures and position surgical instruments relative to pre-op and intra-op imaging, enhancing accuracy and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual handling and positioning of surgical instruments is used, then the surgeon has direct control and flexibility, but the precision and accuracy are insufficient especially in complex bone structures
Solution Approach 1:
A robotic arm acts as an intermediary between the surgeon's control inputs and the surgical instrument positioning. The robot receives commands from the surgeon and automatically positions the instrument with high precision, eliminating the limitations of manual handling while preserving surgeon control through a automated interface
Solution Approach 2:
The patent replaces the manual mechanical positioning system with an automated robotic positioning system. The robotic arm uses computer-controlled mechanisms to position surgical instruments, substituting human manual dexterity with automated precision control for tasks requiring high accuracy in complex anatomical structures
2Extent of automation
If conventional robotic systems are used, then some automation is provided, but they are error-prone, tedious, and lack mechanical feedback
Solution Approach 1:
The system incorporates real-time feedback mechanisms including sensors that monitor the robotic arm position, surgical instrument location, and anatomical structure positioning. This feedback loop allows the system to detect and correct positioning errors automatically, providing mechanical feedback that enhances reliability and reduces the error rate while maintaining high automation
Solution Approach 2:
The system performs preliminary planning and registration of anatomical structures before the actual surgical procedure. By pre-mapping the patient's anatomy and creating a digital model, the system prepares the optimal surgical path and positioning in advance, reducing errors during the procedure itself and making the automated process more reliable
3Measurement precision
If limited robotic assistance is used, then some precision is improved, but the setup is cumbersome and obtrusive
Solution Approach 1:
The robotic system is designed with multi-functionality to perform various surgical tasks through a single integrated platform. The robotic arm can accommodate different surgical instruments and adapt to various surgical procedures, reducing the need for multiple specialized devices and simplifying the overall setup while maintaining high positioning precision
Solution Approach 2:
The system is divided into modular components including the robotic arm, control system, imaging system, and surgical instruments. This segmentation allows for independent optimization of each component and easier setup, as modules can be configured and positioned independently rather than requiring a monolithic complex setup
4Manufacturing precision
If autonomous movement of surgical instruments is used, then precision is improved, but mechanical feedback and visual placement are lost
Solution Approach 1:
The system maintains mechanical feedback through sensors that continuously monitor the robotic arm's position, the surgical instrument's location, and the relationship between the instrument and anatomical structures. This real-time feedback provides the surgeon with tactile and visual information about instrument placement, preserving situational awareness while enabling autonomous precision movement
Solution Approach 2:
The robotic system acts as an intermediary that translates the surgeon's intent into precise instrument movements while maintaining feedback loops. The robot autonomously executes the positioning but continuously reports back the instrument location and status to the surgeon through visual displays and haptic feedback, preserving the information flow despite autonomous execution
Data Source
AI summary
Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.