Surgical Robot Omni-Directional Wheel Base for Precision Positioning
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Solution Overview
Problem
Existing medical robotic systems face challenges in ensuring accurate positioning and controlled movement of surgical instruments within the operating room environment, particularly in tracking objects in 3D dimensions and navigating complex surgical procedures with precision.
Innovation Solution
The implementation of a surgical robot system equipped with omni-directional wheels and sensors, allowing for multiple-axis movement and precise control through a control system that utilizes tracking markers and cameras to monitor the position and orientation of surgical instruments, enabling accurate and autonomous movement within a defined area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional wheeled mobile robots are used in surgical environments, then the robot structure is simple and easy to manufacture, but the robot cannot achieve accurate positioning and controlled movement in multiple directions
Solution Approach 1:
The robot base is segmented into multiple independent omni-directional wheels, each capable of movement in multiple directions. This segmentation allows the robot to achieve complex positioning and orientation capabilities while maintaining modular construction that simplifies manufacturing and control.
Solution Approach 2:
The omni-directional wheels serve multiple functions: they provide propulsion, enable lateral movement, and allow rotational motion without requiring separate mechanisms for each degree of freedom. This multi-functionality achieves accurate positioning and controlled movement while avoiding the complexity of multiple specialized components.
2Adaptability or versatility
If omni-directional wheels are added to enable multiple-axis movement, then the robot's mobility and positioning capability are improved, but the device complexity increases
Solution Approach 1:
Multiple movement functions (forward propulsion, lateral motion, and rotation) are merged into a single omni-directional wheel assembly. By combining these capabilities in one integrated component rather than using separate mechanisms, the robot achieves versatile mobility while minimizing structural complexity.
Solution Approach 2:
The omni-directional wheels incorporate dynamic control capabilities that allow real-time adjustment of movement direction and speed. This dynamic control enables the robot to adapt to various surgical environment requirements while using a relatively simple mechanical structure that can be precisely controlled through software.
3Measurement precision
If sensors and control systems are implemented for precise tracking, then the measurement precision and control accuracy are improved, but the device complexity and cost increase
Solution Approach 1:
Sensors are implemented to provide real-time feedback on the robot's position, orientation, and movement status. This feedback mechanism enables precise tracking and control by continuously monitoring system state and making necessary adjustments, achieving high measurement precision while using a manageable control system architecture.
Solution Approach 2:
Complex mechanical positioning mechanisms are replaced with sensor-based detection and control systems. By using optical sensors, cameras, and electronic control instead of purely mechanical systems, the robot achieves high tracking accuracy and control precision while reducing mechanical complexity and improving system flexibility.
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
This solution enhances the precision and accuracy of surgical procedures by allowing the robot to track and move surgical instruments with high precision, reducing the need for manual intervention and improving the overall efficiency and safety of robotic-assisted surgeries.
Implementation Method 1
a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot
Implementation Method 2
a plurality of sensors for detecting a desired movement of the robot base
Implementation Method 3
a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels
Implementation Method 4
the end-effector including a plurality of tracking markers detectable by at least one camera
Data Source
AI summary
Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.