Surgical Robot Station Positioning for Collision-Aware Arm Path Planning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical robot systems face challenges in accurately positioning and stabilizing the robotic arm during surgeries due to limited visibility and difficulty in controlling the saw, leading to potential inaccuracies and increased risk of complications.
Innovation Solution
A surgical robot system that determines optimal positions and dynamically updates the path of the robotic arm based on real-time environmental data from a camera tracking system, minimizing repositioning and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a passive kinematics guidance structure is used to constrain the saw blade, then the blade can be constrained in its resection plane, but the robotic arm has a limited range requiring the guidance structure to be repositioned at different positions relative to the operating table
Solution Approach 1:
The system dynamically determines optimal positions for the robotic arm and surgical robot station based on real-time surgical progress and patient anatomy. The robotic arm can be repositioned along a pre-calculated path to access different resection sites, transforming a static limited-range system into a dynamic multi-position system that maintains precision while increasing adaptability.
Solution Approach 2:
The system performs preliminary calculation of optimal robotic arm positions and resection paths before surgery begins. By pre-determining the sequence of positions and movements needed to access all required resection sites, the system eliminates the need for manual repositioning during surgery, thereby maintaining blade constraint precision while achieving comprehensive adaptability.
2Adaptability or versatility
If the surgical robot system is moved multiple times during surgery to access different resection sites, then all required cuts can be made, but the number of repositioning operations increases leading to more time consumption and potential loss of positioning accuracy
Solution Approach 1:
The system pre-calculates the complete sequence of robotic arm positions and movements needed to access all resection sites before surgery begins. This preliminary path planning allows the robotic arm to move efficiently between positions without requiring manual intervention or time-consuming adjustments, thereby maintaining adaptability while minimizing surgery duration.
Solution Approach 2:
The system maintains continuous surgical workflow by pre-planning the robotic arm's movement path to minimize idle time between resection sites. The robotic arm follows a continuous, optimized trajectory between positions, eliminating interruptions and maintaining the momentum of surgical procedures, thus achieving comprehensive site access without proportional time increase.
3Adaptability or versatility
If the robotic arm moves to different positions during surgery, then all resection sites can be accessed, but the risk of collision with other objects in the operating room increases
Solution Approach 1:
The system performs preliminary detection of the operating room environment and pre-calculates safe movement paths for the robotic arm between resection sites. By identifying potential obstacles beforehand and planning avoidance trajectories, the system enables comprehensive site access while minimizing collision risk through pre-established safe pathways.
Solution Approach 2:
The system continuously monitors the robotic arm's position and the operating room environment during surgery, using real-time feedback to adjust the movement path and avoid unexpected obstacles. This dynamic feedback mechanism allows the robotic arm to maintain reachability of all resection sites while adapting to prevent collisions with objects or personnel in the surgical field.
Data Source
AI summary
A surgical robot system can determine a plurality of actions to be completed by a surgical robot station during a surgery. The surgical robot system can determine potential positions in an operating room that the surgical robot station can be positioned during the surgery. The surgical robot system generates a score associated with the determined positions and determines an optimal position of the surgical robot station for display based on the generated scores.