Robotic Tracker Arm Positioner for Sterile Setup
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Solution Overview
Problem
Conventional surgical robotic systems face challenges with manual setup and flexibility issues in tracking components, leading to potential damage, line-of-sight obstructions, and complexity in maintaining a sterile field due to inflexible and manually adjustable tracker and arm configurations.
Innovation Solution
A surgical robotic system with a tracker support assembly that includes an arm positioner to securely move and position the tracker assembly relative to the base, allowing for predetermined secure positions and interchangeable tracker assemblies, along with a sterile drape design that covers and secures the system components, ensuring optimal positioning and sterility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a manually-adjustable setup arm and cart tracker are used, then the tracker can be positioned for different procedures, but the setup is time-consuming and requires manual assembly/disassembly
Solution Approach 1:
The arm is designed with dynamic positioning capabilities, allowing it to be moved and secured at multiple predetermined positions along the base. This enables the tracker to be repositioned for different procedures without manual assembly/disassembly, resolving the contradiction between positioning flexibility and setup time.
Solution Approach 2:
The arm is provided with multiple predetermined positions that have been pre-configured for different procedure types. The arm positioner pre-secures the arm at these positions, eliminating the need for manual adjustment during setup and reducing setup time while maintaining adaptability.
2Adaptability or versatility
If the cart tracker is positioned in a user-defined pose, then the tracker can be placed in various locations, but the tracker becomes susceptible to damage or collisions
Solution Approach 1:
The arm positioner enables the arm to be dynamically positioned at multiple predetermined locations that are strategically placed to avoid collision zones. This maintains tracker placement flexibility while improving reliability by preventing damage from collisions with people or other objects.
3Adaptability or versatility
If the cart tracker is positioned by manual setup, then the tracker can be placed in various positions, but line-of-sight with the navigation system may be obstructed
Solution Approach 1:
The arm positioner provides dynamic positioning at multiple predetermined positions that are optimized for navigation system line-of-sight. This maintains the ability to place the tracker in various locations while ensuring reliable line-of-sight communication with the navigation system by avoiding obstructions from the robotic device.
4Device complexity
If the arm and cart tracker are connected with a fixed length connection, then the structure is simple, but the system cannot be adjusted for different procedures
Solution Approach 1:
The arm is designed with multiple predetermined positions at different spacings from the base, allowing the connection length between the tracker and base to be dynamically adjusted for different procedures. This maintains structural simplicity while providing the needed adaptability through pre-configured positioning options.
5Ease of operation
If a conventional adjustable arm and cart tracker are used, then the tracker can be manually positioned, but the drape complexity increases due to required openings for connections
Solution Approach 1:
The arm positioner enables dynamic positioning at multiple predetermined positions, allowing the drape to be configured once to cover all possible arm positions. This eliminates the need for multiple drape openings and simplifies drape configuration while maintaining manual positioning capability through the positioner mechanism.
Data Source
AI summary
A robotic surgical system has a base and a robotic arm coupled to the base. The robotic arm has a plurality of links and joints. A tracker support assembly has an arm to support a tracker assembly for the base. An arm positioner is coupled between the base and the arm to enable movement of the arm relative to the base. The arm positioner is configured to rigidly secure the arm in response to movement of the arm to a predetermined position.