Surgical Table Motion Detection for Robotic Manipulator Coordination
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Solution Overview
Problem
In robotic surgery, coordinating the motion of the operating table with the manipulator arms is challenging without a direct connection between the two systems, as the existing technologies often require a specialized patient table compatible with the surgical system, limiting flexibility and adaptability during procedures.
Innovation Solution
The implementation of sensors such as inertial measurement units (IMUs), accelerometers, and optical markers to detect operating table motion, allowing the robotic manipulator system to automatically or semi-automatically adjust its position in response, without the need for a direct connection, using sensor fusion and communication protocols to generate appropriate control signals for the manipulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a specialized patient table with direct connection is used to coordinate motion with manipulators, then coordination reliability is improved, but device complexity and cost increase due to requiring a custom-integrated table system
Solution Approach 1:
The patent introduces sensors (accelerometers, gyroscopes, position sensors) as intermediary devices that detect table motion and transmit signals to the robotic control system. This mediator approach enables coordination between the table and manipulators without requiring a direct mechanical or proprietary electrical connection, thus maintaining reliability while reducing system integration complexity
Solution Approach 2:
The patent replaces direct mechanical coupling or proprietary electrical connections between the table and robotic system with sensor-based detection and wireless or standard electrical signal transmission. This substitution allows any standard operating table to be used with the robotic surgical system while maintaining coordinated motion control
2Manufacturing precision
If a proprietary connected table system is used for coordinated motion, then motion coordination precision is improved, but adaptability worsens due to limitation to specific table models
Solution Approach 1:
The patent implements a universal sensor-based detection system that can be applied to various types of operating tables regardless of manufacturer or model. The sensors detect table motion parameters (acceleration, orientation, position) and the control system processes these signals to achieve coordinated manipulator motion, enabling the robotic system to work with any standard operating table while maintaining precision
Solution Approach 2:
By introducing sensors as an intermediary layer between the table and robotic control system, the patent enables any table that can support the sensors to be used with the robotic system. The sensors translate physical table motion into electrical signals that the control system can process, creating a universal interface that improves adaptability while maintaining coordination precision
3Ease of operation
If sensor-based detection without direct connection is used, then adaptability and ease of operation are improved, but measurement precision of table motion may worsen due to indirect detection
Solution Approach 1:
The patent combines multiple sensor types (accelerometers for linear acceleration, gyroscopes for angular velocity, position sensors for spatial location) into an integrated detection system. This fusion of multiple sensing modalities compensates for the limitations of individual sensors and achieves high-precision table motion detection without requiring direct connection to the table's control system
Solution Approach 2:
The system continuously monitors table motion through sensors and provides real-time feedback to the control system, which adjusts manipulator positions accordingly. This closed-loop feedback mechanism ensures high measurement precision by continuously correcting for any detection errors or drift, maintaining accurate coordination even with indirect sensor-based detection
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
Enables seamless coordination between the patient table and robotic manipulators, enhancing procedural flexibility and safety by allowing the use of any patient table, improving the adaptability and precision of surgical instrument movement during robotic surgery.
Implementation Method 1
A first inertial measurement unit of a set of inertial measurement units attached to the patient bed detects bed motion
Implementation Method 2
sensors such as inertial measurement units (IMUs), accelerometers, and optical markers to detect operating table motion
Data Source
AI summary
An position sensor such as an IMU is removably positioned on a patient bed used to support a patient during a robotic surgical procedure in which a robotic manipulator is used to manipulate a surgical instrument. When the bed is moved during the course of surgery, signals corresponding to a sensed changed in the bed's position are received by a processor, which causes a corresponding repositioning of the robotic manipulator.