Image-Guided Surgical Robot Interface for 3D End Effector Control
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Solution Overview
Problem
The high degree of manual surgical precision and expertise required for procedures like HoLEP prevents widespread adoption, and current robotic surgical platforms are cumbersome for surgeons to interact with, making it difficult to accurately visualize and control three-dimensional surgical sites.
Innovation Solution
An image-guided surgical robotic platform with a console cart and robotic cart system that includes a movable robotic arm, end effector, and user interface, which processes real-time data to assist surgeons by presenting imaging data, anatomical maps, and receiving user inputs to control the end effector's movement in three dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual surgical techniques are used to achieve high precision, then surgical expertise and manual skill are improved, but the learning curve and accessibility are worsened
Solution Approach 1:
The patent replaces manual mechanical surgical control with an automated robotic system. The robotic arm with haptic feedback mechanism substitutes the surgeon's manual manipulation, providing precise control through computer-guided motion while maintaining tactile feedback. This allows high-precision surgery without requiring extensive manual skill development.
Solution Approach 2:
The patent introduces a robotic intermediary between the surgeon and the surgical site. The robotic system acts as a mediator that translates surgeon intent into precise robotic movements, while the haptic feedback provides tactile information about tissue properties. This intermediary enables precision surgery with a reduced learning curve.
2Ease of operation
If robotic surgical platforms are used to reduce manual skill requirements, then ease of operation is improved, but device complexity and ease of interaction are worsened
Solution Approach 1:
The robotic system performs self-calibration and automatic positioning functions. The haptic feedback mechanism automatically adjusts to tissue properties during surgery, reducing the need for complex manual adjustments by the surgeon. The system serves itself by adapting to surgical conditions without requiring complex operator intervention.
Solution Approach 2:
The patent implements haptic feedback that provides real-time tactile information to the surgeon about tissue properties and robotic position. This feedback loop simplifies operation by giving the surgeon intuitive sensory guidance, reducing the perceived complexity despite the sophisticated underlying robotic system.
3Device complexity
If traditional surgical control methods are used, then device simplicity is maintained, but measurement precision and control accuracy are worsened
Solution Approach 1:
The patent replaces simple manual mechanical control with an automated robotic control system that uses computer algorithms to achieve high precision. The robotic arm with multi-axis control and haptic feedback provides measurement and control precision far exceeding manual methods, while the complexity is managed through software integration.
Solution Approach 2:
The robotic system creates a digital model or copy of the surgical site based on preoperative imaging and real-time sensor data. This virtual representation allows for precise planning and execution of surgical movements, achieving high measurement precision by working with a detailed digital copy rather than relying solely on simple physical tools.
4Reliability
If automated robotic control is used to reduce human error, then reliability is improved, but ease of operation and surgeon control are worsened
Solution Approach 1:
The robotic system autonomously performs precise positioning and motion control functions, reducing human error in execution. The haptic feedback mechanism automatically compensates for tissue variability, allowing the system to serve itself in maintaining reliability without requiring complex surgeon intervention for each adjustment.
Solution Approach 2:
The haptic feedback provides the surgeon with tactile information about tissue properties and robotic position, maintaining surgeon control and situational awareness. This feedback loop allows the surgeon to override or adjust automated actions when needed, preserving ease of operation while benefiting from automated precision that reduces human error.
Data Source
AI summary
A system includes a surgical robot, including a robot arm configured to hold an end effector and at least one circuit configured to receive imaging data of a surgical site and generate a presentation to be presented on a user interface. The presentation includes imaging data of the surgical site, a map of an anatomy of the surgical site surrounding the imaging data, and a first designated touch area. The at least one circuit is also configured to receive a user input on the user interface and actuate the robot arm to move the end effector in one of a depth direction or a planar direction based on the user input.