Surgical Robot Reference Device for Tool Validation
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Solution Overview
Problem
Current surgical robotic systems face challenges in accurately identifying, calibrating, and verifying surgical tools and end effectors from various manufacturers, leading to incompatibility issues and potential misalignment during robotic surgical procedures, especially in spinal surgery where a wide variety of tools and implants are used.
Innovation Solution
A surgical robot system equipped with multiple robotic arms and a reference device for kinematic positioning and optical verification, allowing for the identification, sizing, calibration, and verification of surgical tools and end effectors, including those not designed for specific robots, through image comparison and modeling, enabling precise deployment and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surgical robots use proprietary tools designed and certified for that particular robot, then accurate and precise placement is achieved, but tool compatibility and surgeon choice are limited
Solution Approach 1:
The robotic system incorporates a universal tool validation system that can identify, measure, and calibrate tools from multiple manufacturers. The system uses optical sensors and image processing to automatically determine tool dimensions and attachment characteristics, enabling the robot to work with various tool types without requiring proprietary tools for each manufacturer.
Solution Approach 2:
The system dynamically adjusts robotic control parameters based on real-time measurement data of the attached tool. By measuring actual tool dimensions and attachment point locations, the system modifies kinematic models and control algorithms to compensate for variations in tool specifications, maintaining placement precision across different tool types.
2Reliability
If surgical tools are sterilely packed with drivers, inserters, or the like, then surgical readiness is improved, but misalignment detection becomes difficult
Solution Approach 1:
The system performs alignment validation of implanted devices and attached tools before the surgical procedure begins. Optical sensors capture images of the tool-implant assembly in the sterile field, and the system automatically checks for proper alignment and attachment. This preliminary verification ensures surgical readiness while detecting misalignment issues that would be difficult to identify visually during the procedure.
3Measurement precision
If similar tools or implants have small differences in their specifications, then tool specificity is improved, but identification accuracy deteriorates
Solution Approach 1:
The system uses optical markers and reference objects as intermediaries between the tool and the sensing system. These markers provide high-contrast visual features that enhance the detectability of subtle tool characteristics. Image processing algorithms compare the captured images against a database of known tool specifications, enabling accurate identification even when tools have minor specification differences.
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
The system enables the use of a wide range of surgical tools and end effectors, ensuring precise alignment and calibration, reducing the risk of misalignment and increasing compatibility, thereby enhancing the safety and effectiveness of robotic surgical procedures.
Implementation Method 1
a camera to image the reference device and the surgical tool to generate image data for both the reference device and the surgical tool
Data Source
AI summary
A surgical robot a chassis includes a first surgical robotic arm and a reference device on a chassis. The first surgical robotic arm carries a surgical object, such as an implant, tool, or assembly, and the reference device carries indicia for identifying, sizing, calibrating, modeling, or verifying the surgical object. A controller kinematically positions the first surgical robotic arm to locate the implant, tool, or assembly in a predetermined orientation relative to the reference device in a surgical robotic coordinate space, and a camera is positioned to view the implant, tool, or assembly, when in proximity to the reference device.