Tele-Surgical Table Registration for Dynamic Manipulator Alignment
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Solution Overview
Problem
Existing tele-surgical systems face challenges in localizing and coordinating the movement of surgical manipulators relative to a separately positionable surgical table, which can lead to inefficiencies and potential collisions, particularly in minimally invasive procedures requiring multiple manipulators.
Innovation Solution
The implementation of registration features that allow for determining the spatial relationship between the surgical table and the manipulator assembly, either through contact or non-contact methods, enabling dynamic registration and coordinated movement during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a separately positionable surgical table is used to accommodate patients in different positions and orientations, then adaptability and versatility are improved, but device complexity increases due to the need for registration features and spatial relationship determination
Solution Approach 1:
A registration feature is introduced as an intermediary element that couples the surgical table to the manipulator assembly. This registration feature includes markers or fiducials that enable the determination of spatial relationships without requiring direct complex integration between the table and manipulator systems, thereby reducing overall system complexity while maintaining adaptability.
Solution Approach 2:
The registration feature serves multiple functions: it acts as a coupling mechanism between the table and manipulator assembly, provides reference markers for spatial determination, and enables dynamic registration during procedures. This multi-functionality reduces the need for separate systems for each function, thereby reducing device complexity.
2Measurement precision
If registration features are implemented to determine spatial relationships, then measurement precision is improved, but device complexity increases due to additional sensors and markers
Solution Approach 1:
Physical markers or fiducials are placed on the registration feature, which serve as optical copies or reference points that can be detected by sensors. These markers enable precise spatial determination through optical or electromagnetic fields without requiring direct physical measurement, thereby improving measurement precision while keeping the physical addition minimal.
Solution Approach 2:
The patent replaces direct mechanical coupling and physical measurement systems with optical, electromagnetic, or other non-contact sensing methods. This substitution allows for high-precision spatial determination without the complexity of mechanical linkages and direct physical sensors on every component.
3Ease of operation
If dynamic registration is implemented to allow table movement during procedures, then ease of operation is improved, but reliability decreases due to potential loss of spatial calibration
Solution Approach 1:
The system continuously monitors the position and orientation of the registration feature relative to the manipulator assembly using sensors and markers. This feedback mechanism detects any changes in spatial relationships during table movement and provides real-time data to the control system, enabling maintenance of spatial calibration even during dynamic operations.
Solution Approach 2:
The registration system is designed to be dynamic rather than static, allowing the surgical table to move during procedures while maintaining spatial relationships. The registration feature and sensing system adapt to changing positions, enabling table maneuverability without losing calibration through continuous spatial determination.
Data Source
AI summary
A method comprises receiving at least one sensor reading that indicates a position or an orientation of a manipulator arm of a manipulator assembly when a keying feature of a distal portion of the manipulator arm is in contact with and received by a key receiving feature of a registration element of a table mounted registration device mounted to a side of a surgical table between a top surface and a bottom surface of the surgical table. The distal portion of the manipulator arm is movable in a plurality of degrees of freedom. The method further comprises determining, based on the received sensor reading, a spatial relationship between the manipulator assembly and the table mounted registration device; and reducing, by the table mounted registration device, the plurality of degrees of freedom when the table mounted registration device is in contact with and receives the distal portion of the manipulator arm.