Surgical Robot Navigation With Dynamic Reference Tracking
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Solution Overview
Problem
Current robot-assisted surgical systems are error-prone, cumbersome, and limited in movement range, leading to safety hazards and suboptimal surgical instrument placement due to lack of mechanical feedback and visual placement during procedures.
Innovation Solution
A surgical robot system with a dynamic reference base and registration fixture, integrating a local positioning system and planning software to accurately locate anatomical structures and position surgical instruments using a surgical robotic arm, dynamic reference base, and registration fiducials, enhancing precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a surgeon manually holds and positions a drill guide tube using a guidance system, then the surgeon can perform the surgical procedure, but the process is tedious, time-consuming, and error-prone
Solution Approach 1:
The patent replaces the manual mechanical positioning system with an automated robotic arm system. The robotic arm autonomously positions surgical instruments based on pre-planned trajectories and real-time navigation data, eliminating the need for manual holding and positioning by the surgeon. This substitution resolves the contradiction by providing both automated precision (improving reliability) and reduced manual effort (improving ease of operation).
Solution Approach 2:
The robotic system performs self-positioning and self-steering of surgical instruments along predetermined trajectories. The system autonomously adjusts instrument placement without continuous manual intervention, allowing the surgical process to serve itself through automated control mechanisms. This self-service capability improves both reliability through consistent precision and ease of operation by reducing surgeon workload.
2Extent of automation
If conventional robot assisted systems are used, then some robotic assistance is provided, but the systems are expensive, obtrusive, and require cumbersome setup
Solution Approach 1:
The patent divides the robotic surgical system into modular components: a robotic arm with interchangeable end effectors, a separate navigation system, and a control station. This segmentation allows the system to be configured for different surgical procedures by swapping components rather than requiring complete system reconfiguration. The modular approach reduces setup complexity while maintaining high automation capabilities.
Solution Approach 2:
The robotic arm is designed with universal end effectors that can accommodate multiple surgical instruments and perform various surgical tasks. The system can adapt to different surgical procedures through software configuration and instrument interchange rather than requiring dedicated hardware for each procedure. This multi-functionality reduces both device complexity and setup requirements while preserving extensive automation capabilities.
3Productivity
If the surgical instrument is submerged within a portion of the patient, then the surgical procedure can be performed, but mechanical feedback and visual placement are lost resulting in safety hazards
Solution Approach 1:
The patent implements real-time feedback mechanisms including optical tracking systems that continuously monitor instrument position, force sensors that provide tactile feedback through the robotic interface, and imaging systems that display instrument location relative to anatomical structures. This multi-modal feedback system maintains reliability and safety by providing continuous information about instrument placement even when submerged within the patient, while enabling the surgical procedure to proceed with high productivity.
Solution Approach 2:
The system introduces an intermediary navigation and control system that acts as a mediator between the surgeon's intentions and the actual instrument placement. The intermediary system processes surgical plans, translates them into robotic commands, and provides real-time verification of instrument positions. This intermediary layer ensures safety and maintains feedback loops even when the physical instrument is submerged within the patient, while allowing the surgical procedure to continue efficiently.
4Ease of operation
If the robot arm configuration is limited, then the system is easier to control, but the range of motion and ideal trajectory placement are restricted
Solution Approach 1:
The robotic arm employs dynamic motion planning and real-time trajectory adjustment capabilities that allow it to adapt its movement patterns based on surgical requirements. The system can dynamically recalculate optimal paths, adjust end effector orientations, and modify insertion angles during the procedure. This dynamic adaptability provides extensive range of motion and trajectory options while maintaining ease of operation through automated motion control and surgeon guidance.
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 and instruments may be tracked by surgical robot system and displayed to a user. 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.