WO2025008850A1 - Système et procédé de réalisation de procédures radiologiques télérobotiques à l'aide d'un bras robotique - Google Patents

Système et procédé de réalisation de procédures radiologiques télérobotiques à l'aide d'un bras robotique Download PDF

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Publication number
WO2025008850A1
WO2025008850A1 PCT/IN2024/050718 IN2024050718W WO2025008850A1 WO 2025008850 A1 WO2025008850 A1 WO 2025008850A1 IN 2024050718 W IN2024050718 W IN 2024050718W WO 2025008850 A1 WO2025008850 A1 WO 2025008850A1
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WIPO (PCT)
Prior art keywords
robotic
robotic arm
medical professional
network
user equipment
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IN2024/050718
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English (en)
Inventor
Ashish Bhatnagar
Vineet Kumar
Aayush Bhatnagar
Pradeep Kumar Bhatnagar
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Jio Platforms Ltd
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Jio Platforms Ltd
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Publication of WO2025008850A1 publication Critical patent/WO2025008850A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • A61B8/565—Details of data transmission or power supply involving data transmission via a network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • a portion of the disclosure of this patent document contains material, which is subject to intellectual property rights such as, but are not limited to, copyright, design, trademark, Integrated Circuit (IC) layout design, and/or trade dress protection, belonging to Jio Platforms Limited (JPL) or its affiliates (hereinafter referred as owner).
  • JPL Jio Platforms Limited
  • owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all rights whatsoever. All rights to such intellectual property are fully reserved by the owner.
  • the present disclosure relates to a field of telecommunications technology in a medical field. More precisely, the disclosure relates to a system and method for conducting radiological procedures remotely using advanced telecommunication technologies such as 5G networks.
  • Radiology is a branch of medicine that uses an imaging technology for diagnosing and treating diseases. It consists of procedures (exams/tests) such as X-rays, Computed Tomography (CT), Magnetic Resonance Imaging (MRI), nuclear medicine, Positron Emission Tomography (PET), ultrasound, and so forth.
  • CT Computed Tomography
  • MRI Magnetic Resonance Imaging
  • PET Positron Emission Tomography
  • ultrasound ultrasound
  • CT Computed Tomography
  • CT Computed Tomography
  • MRI Magnetic Resonance Imaging
  • PET Positron Emission Tomography
  • the robotic systems such as, the da Vinci Surgical System have been used in the radiology for minimally invasive procedures.
  • these systems have limitations as they are expensive to purchase, install, and maintain, making them less accessible to many healthcare facilities.
  • surgeons and radiologists need specialized training to effectively operate and utilize capabilities of the robotic systems.
  • the learning curve can be steep, requiring dedicated time and resources for proficiency.
  • the Universal Robot UR5e a robotic arm known for its precision and flexibility, represents a critical component in an automation of tasks including those in the medical field.
  • Control elements such as “Teach Pendant” allow for user-friendly programming and operation of such robotic arms.
  • a computing hardware including MiniPCs like the AEEON Boxer - 6643-TGU-A2-1010, provides a necessary processing power and interfacing capabilities, while 5G modules such as the Quectel- RM510QGLAA enable a high-speed transmission of data crucial for real-time remote operation.
  • Tele-operated or remote-controlled systems allow the radiologists to control a movement and positioning of imaging devices from a remote location.
  • the remote-controlled systems rely on stable and high-bandwidth network connections for real-time transmission of imaging data. Connectivity issues can lead to delays, interruptions, or degraded image quality.
  • the robotic systems used for image-guided interventions such as robot-assisted biopsies or ablations, have limited degrees of freedom, which can restrict their ability to access certain anatomical regions or perform complex manoeuvres. Robotic interventions may involve complex setup and calibration processes, requiring additional time and resources compared to traditional manual procedures.
  • uRLLC ultra-reliable Low Latency
  • a system for conducting tele-robotic radiological procedures using a robotic arm includes: a processor configured to establish a connection between a user equipment of a medical professional and a robotic system by using a network.
  • the system includes a memory coupled to the processor. The memory is configured to store images captured during a radiological procedure.
  • the system includes a processing engine configured to integrate the robotic system located at a first location with the network; enable a real-time communication between the medical professional and the robotic arm of the robotic system by using the network; enable the medical professional located at a second location to use a haptic device at the user equipment to control a movement of the robotic arm of the robotic system; receive directional inputs of the medical professional by using the haptic device and transmit the directional inputs in form of physical movements to the robotic arm of the robotic system; enable the robotic arm to mimic the movements of the medical professional in real time based on the directional inputs; and display the captured images of a patient on the user equipment in real time through the network.
  • the network is a fifth generation (5G) network.
  • 5G fifth generation
  • the haptic device is associated with a Human Machine Interface (HMI) of the user equipment to enable the medical professional to communicate with virtual environment for conducting the radiological procedure virtually.
  • HMI Human Machine Interface
  • the processing engine is configured to enable the medical professional to complete diagnosis in real-time or asynchronously from the images, upon conducting the tele-robotic radiological procedure virtually.
  • the processing engine is configured to provide haptic feedback to the medical professional in real-time by using the haptic device while manipulating the robotic arm.
  • the processor is configured to verify one or more components of the system.
  • the processing engine is configured to display a complete setup of the patient on the user equipment.
  • the processing engine is configured to manage power supply and actuation mechanism of the robotic arm. [0031] In some embodiments, the processing engine is configured to convert control signal from a robotic arm controller into appropriate signal for an actuator movement.
  • the robotic system comprises a 6-degree-of- freedom positional sensing robotic arm with a radiological probe and a 3 degree of freedom force feedback to provide feedback when pressed against an object.
  • a method for conducting tele- robotic radiological procedures using a robotic arm includes: establishing a connection between a user equipment of a medical professional and a robotic system by using a network; integrating the robotic system located at a first location with the network; enabling a real-time communication between the medical professional and the robotic arm of the robotic system by using the network; enabling the medical professional located at a second location to use a haptic device at the user equipment to control a movement of the robotic arm of the robotic system; receiving directional inputs of the medical professional by using the haptic device and transmitting the directional inputs in form of physical movements to the robotic arm of the robotic system; enabling the robotic arm to mimic the movements of the medical professional in real time based on the directional inputs; and displaying the captured images of a patient on the user equipment in real time through the network.
  • the network is a fifth generation (5G) network.
  • 5G fifth generation
  • the haptic device is associated with a Human Machine Interface (HMI) of the user equipment to enable the medical professional to view virtual environment for conducting the radiological procedure virtually.
  • HMI Human Machine Interface
  • the method includes enabling the medical professional to complete diagnosis in real-time or asynchronously from the images, upon conducting the tele-robotic radiological procedure virtually.
  • the method includes providing haptic feedback to the medical professional in real-time by using the haptic device while manipulating the robotic arm.
  • the method includes verifying one or more components of a system.
  • the method includes displaying a complete setup of the patient on the user equipment.
  • the method includes managing power supply and actuation mechanism of the robotic arm.
  • the method includes converting control signal from a robotic arm controller into appropriate signal for an actuator movement.
  • the robotic system comprises a 6-degree-of- freedom positional sensing robotic arm with a radiological probe and a 3 degree of freedom force feedback to provide feedback when pressed against an object.
  • a user equipment communicatively coupled to a system comprises steps of: establishing a real-time communication link with a robotic arm over a network; transmitting instructions to the robotic arm based on inputs received from a medical professional to perform movements; controlling the movement of the robotic arm remotely using a haptic device; and displaying real-time images of a patient received from the robotic arm through the network.
  • the network is a fifth generation (5G) network.
  • the haptic device is used with a Human Machine Interface (HMI) of the user equipment to enable the medical professional to view virtual environment for conducting the radiological procedure virtually.
  • HMI Human Machine Interface
  • the coupling includes receiving haptic feedback from the robotic arm, providing tactile sensations to the medical professional.
  • a computer program product comprising a non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to implement a method for conducting tele -robotic radiological procedure using a robotic arm.
  • the method including: establishing a connection between a user equipment of a medical professional and a robotic system by using a network; integrating the robotic system located at a first location with the network; enabling a real-time communication between the medical professional and the robotic arm of the robotic system by using the network; enabling the medical professional located at a second location to use a haptic device at the user equipment to control a movement of the robotic arm of the robotic system; receiving directional inputs of the medical professional by using the haptic device and transmitting the directional inputs in form of physical movements to the robotic arm of the robotic system; enabling the robotic arm to mimic the movements of the medical professional in real time based on the directional inputs; and displaying the captured images of a patient on the user equipment in real time through the network.
  • FIG. 1A illustrates an exemplary system for conducting tele-robotic radiological procedures, in accordance with an embodiment of the present disclosure
  • FIG. IB illustrates a block diagram of components of the system, in accordance with an embodiment of the present disclosure
  • FIG. 1C illustrates a functional diagram of a robotic arm controller and a controlling method, in accordance with an embodiment of the present disclosure
  • FIG. ID illustrates a custom designed radiology equipment probe gripper, in accordance with an embodiment of the present disclosure
  • FIG. 2 illustrates an exemplary block diagram of the system, in accordance with an embodiment of the present disclosure
  • FIG. 3 illustrates an exemplary flow diagram of a process for conducting tele-robotic radiology, in accordance with an embodiment of the present disclosure
  • FIGS. 4A and 4B illustrate a use case scenario for conducting the tele-robotic radiology procedure, in accordance with an embodiment of the present disclosure
  • FIG. 5 illustrates an exemplary block diagram of a computer system in which or with which embodiments of the present disclosure can be utilized, in accordance with an embodiment of present disclosure
  • FIG. 6 illustrates a flowchart of a method for executing a tele-robotic radiological procedure utilizing a robotic arm, in accordance with an embodiment of present disclosure.
  • individual embodiments may be described as a process that is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process is terminated when its operations are completed but could have additional steps not included in a figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination can correspond to a return of the function to the calling function or the main function.
  • exemplary and/or “demonstrative” is used herein to mean serving as an example, instance, or illustration.
  • the subject matter disclosed herein is not limited by such examples.
  • any aspect or design described herein as “exemplary” and/or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art.
  • the terms “includes,” “has,” “contains,” and other similar words are used in either the detailed description or the claims, such terms are intended to be inclusive like the term “comprising” as an open transition word without precluding any additional or other elements.
  • an “electronic device”, or a “portable electronic device”, or a “user device” or a “communication device” or a “user equipment” or a “device” refers to any electrical, electronic, electromechanical, and computing device.
  • the user device is capable of receiving and/or transmitting one or parameters, performing functions, communicating with other user devices, and transmitting data to the other user devices.
  • the user equipment may have a processor, a display, a memory, a battery, and an input-means such as a hard keypad and/or a soft keypad.
  • the user equipment may be capable of operating on any radio access technology including, but not limited to, IP-enabled communication, Zig Bee, Bluetooth, Bluetooth Low Energy, Near Field Communication, Z-Wave, WiFi, Wi-Fi direct, etc.
  • the user equipment may include, but not limited to, a mobile phone, a smartphone, virtual reality (VR) devices, augmented reality (AR) devices, a laptop, a general-purpose computer, a desktop, a personal digital assistant, a tablet computer, a mainframe computer, or any other device as may be obvious to a person skilled in the art for implementation of the features of the present disclosure.
  • the user device may also comprise a “processor” or a “processing unit”, wherein the processor refers to any logic circuitry for processing instructions.
  • the processor may be a general-purpose processor, a special purpose processor, a conventional processor, a digital signal processor, a plurality of microprocessors, one or more microprocessors in association with a Digital Signal Processor (DSP) core, a controller, a microcontroller, Application Specific Integrated Circuits, Field Programmable Gate Array circuits, any other type of integrated circuits, etc.
  • DSP Digital Signal Processor
  • the processor may perform a signal coding data processing, an input/output processing, and/or any other functionality that enables a working of a system according to the present disclosure. More specifically, the processor is a hardware processor.
  • FIG. 1A illustrates an exemplary system (100) for conducting tele- robotic radiological procedures, in accordance with embodiments of the present disclosure.
  • the system (100) may be implemented for improving access to diagnostic services in an underserved or remote areas and may facilitate timely detection, diagnosis, and treatment of various medical conditions.
  • the medical conditions may be, but not limited to, fractures, tumors, stroke, kidney stones, and so forth.
  • the system (100) may be configured to enable medical professionals (110) to remotely control radiology equipment and perform examinations on patients located in different geographical locations.
  • the radiology equipment may be, but not limited to, X-ray machine, Computed Tomography (CT) scanner, Magnetic Resonance Imaging (MRI), ultrasound machines, nuclear medicine cameras, and so forth.
  • CT Computed Tomography
  • MRI Magnetic Resonance Imaging
  • the system (100) may include a patient side system (102), a centralized server (104), and one or more computing devices/user equipment (106- 1, 106-2, . . . 106-N) (hereinafter collectively referred to as the user equipment (106) and individually referred to as the user equipment (106) in an environment.
  • the patient side system (102), the centralized server (104), and the user equipment (106) may be connected to each other through a network (108).
  • the patient side system (102) may represent a setup that integrates various components to enable remote medical procedures.
  • the patient side system (102) may include a robotic system (112) (as shown in FIG. IB).
  • the robotic system (112) may include various components that may be explained in detail in the FIG. IB.
  • the robotic system (112) may allow the medical professional (110) to perform precise and controlled actions on the patient from a remote location.
  • the centralized server (104) may include, by way of example, but not limited to, one or more of: a stand-alone server, a server blade, a server rack, a bank of servers, a server farm, a hardware supporting a part of a cloud service or system, a home server, a hardware running a virtualized server, one or more processors executing code to function as a server, one or more machines performing server- side functionality as described herein, at least a portion of any of the above, some combination thereof.
  • the centralized server (104) may be connected with a database (210) (as shown in FIG. 2) to receive information from a doctor side and a patient side.
  • each of the user equipment (106) may be associated with one or more users (110-1, 110-2, ... 110-N) (collectively referred as the users (110) and individually referred to as the user (110), herein).
  • the user (110) and the medical professional (110) may be used interchangeably.
  • the user equipment (106) establishes a real-time communication link with a robotic arm (114) (as shown in FIG. IB) over the network (108). Further, the user equipment (106) also transmits instructions to the robotic arm (114) based on inputs received from the medical professional (110) to perform movements.
  • the user equipment (106) also controls the movement of the robotic arm (114) remotely using a haptic device (130) (as shown in the FIG. IB).
  • the user equipment (106) also receives haptic feedback from the robotic arm (114) and provides tactile sensations to the medical professional (110). Further, the user equipment (106) also displays real-time images of a patient received from the robotic arm (114) through the network (108).
  • the user equipment (106) may be, but not limited to, personal computers, laptops, tablets, wristwatches, or any custom-built computing device integrated within a modem diagnostic machine that can connect to the network (108) as an loT (Internet of Things) device.
  • the user (110) may be, but not limited to, the medical professional (110), an operator assistance, a patient assistant, and so forth.
  • the network (108) may include, but not limited to, at least a portion of one or more networks having one or more nodes that transmit, receive, forward, generate, buffer, store, route, switch, process, or a combination thereof, etc. one or more messages, packets, signals, waves, voltage or current levels, and so forth.
  • the network (108) may be, but not limited to, a wireless network, a wired network, the internet, an intranet, a public network, a packet- switched network, a circuit- switched network, an ad hoc network, an infrastructure network, a Public-Switched Telephone Network (PSTN), a cable network, a cellular network, a satellite network, a fiber optic network, or a combination thereof.
  • the network (108) may be a private network such as the fifth generation (5G) network.
  • FIG. IB illustrates a block diagram of components of the system (100), in accordance with an embodiment of the present disclosure.
  • the block diagram is illustrating how various components of the system (100) may interact to enable a remote operation of a robotic arm (114) of the robotic system (112) for the radiological procedures using the 5G network (108).
  • the components of the system (100) may be, the user equipment (106) having the Human Machine Interface (HMI) (116), the robotic system (112), a robotic arm controller (118), a haptic sensor (120), a haptic force controller (122), a joystick motor (124) and a control domain (126).
  • the 5G network (108) may provide high-speed, low-latency communication infrastructure that enables seamless communication between the robotic system (112) and the user equipment (106) of the medical professional (110), allowing for real-time control and feedback.
  • the HMI (116) may refer to an interface through which the medical professional (110) may interact with the robotic system (112).
  • the HMI (116) may enable the medical professional (110) to provide the instructions for diagnosing and operating the patient remotely.
  • the HMI (116) may be, but not limited to, a touchscreen interface, a control panel, a joystick, a gesture control, and so forth that may allow the medical professional (110) to control the robotic arm (114) and a radiological probe.
  • the robotic arm controller (118) may be a device or system that controls a movement and operation of the robotic arm (114).
  • the robotic arm controller (118) may receive the instructions from the HMI (116) and translate them into the movements of the robotic arm (114).
  • the haptic sensor (120) may detect forces and sensations experienced by the robotic arm (114) and provide feedback to the haptic force controller (122) to adjust the haptic feedback provided to the medical professional (110).
  • the haptic feedback may refer to a haptic force (128) felt by the medical professional (110) when interacting with the robotic arm (114) through the HMI (116).
  • the haptic force controller (122) may control the haptic feedback provided to the medical professional (110) through the haptic device (130), ensuring that the medical professional (110) feels the appropriate forces and sensations while manipulating the robotic arm (114).
  • the joystick motor (124) may control movements of the haptic device (130) such as joystick in response to the instruction of the medical professional (110).
  • the joystick motor (124) may translate the instructions of the medical professional (110) into physical movements of the joystick.
  • the medical professional (110) may utilize a physical position of the joystick (referred to as a joystick position) (132), to control the movement of the robotic arm (114).
  • control domain (126) may be a network or a system architecture that facilitates communication between the various components of the robotic system (112), including the HMI (116), the robotic arm controller (118) and the haptic sensor (120).
  • the HMI (116) may be provided for the medical professional (110) such as, the doctor to interact with the robotic system (112) and set controls with the haptic force controller (122). Further, the doctor may use the joystick motor (124) for applying the haptic force (128) with any particular joystick position (132) depending on the requirement.
  • the joystick may be connected to the robotic arm controller (118) that operates on the patient, in an embodiment. Therefore, the doctor may operate the robotic system (112) and the robotic arm controller (118) remotely using the 5G core network (108) to minimize latency and provide full control to the doctor for administration purposes.
  • a camera (not shown) may be provided to capture the real-time images of the organs of the patient for the medical professional (110) to monitor in realtime.
  • the system (100) is capable of several applications such as performing ultrasound remotely over the 5G network (108), a latency ⁇ 20 ms, real time operations using 5G uRLLC (less than 25ms), a seamless Machine to Machine (M2M) communication, and a Quality of Service (QoS) for critical care applications among others.
  • uRLLC stands for Ultra-Reliable and Low- Latency Communications. It is a communication concept and technology defined by 5th generation (5G) wireless network standards.
  • the Tele Ultrasound comprises a robotics set at a patient’s end and a Haptic Setup at a doctor’s end. The data is transferred over a cloud.
  • the robotic system (112) (consists of the robotic arm (114) and some required components enclosed in the provided casing and plus a charging adapter).
  • the 5G network (108) in an in-built module there is a miniPC, the 5G network (108) in an in-built module, a webcam, a power, Universal Standard Bus (USB) cables and High-Definition Multimedia Interface (HDMI) cables for corresponding devices.
  • USB Universal Standard Bus
  • HDMI High-Definition Multimedia Interface
  • the controller the controller, a teach pendant, a 48V battery, a battery charger, a trolley and casing, Miniature Circuit Breakers (MCBs) and internal wiring, and a 3D printed gripper (to hold the probe) (138).
  • the Haptic device (130) with a USB cable and a power cable, a 5g Connection, the power, the USB and HDMI cables for corresponding devices, a dedicated private stream with on-prem 5G network set (User Plane Function (UPF), a Multi-access Edge Computing (MEC), a Unified Data Management (UDM), gNodeB (gNB), 5G Core Control Plane (5GC CP)) for high throughput and low latency at the patient’s end.
  • UPF User Plane Function
  • MEC Multi-access Edge Computing
  • UDM Unified Data Management
  • gNodeB gNodeB
  • 5GC CP 5G Core Control Plane
  • the 5G network (108) with the integrated robotic system (112) provides ultra-fast data transmission speeds, enabling real-time communication and seamless data exchange between the user equipment (106) of the medical professional (110) and the robotic arm controller (118).
  • This high-speed connectivity ensures minimal latency, facilitating instantaneous control and feedback during the radiology procedures.
  • the 5G network (108) offers low latency, reducing a delay between commands of the medical professional (110) and a response of the robotic arm (114). This near-real-time interaction enables precise control of the robotic arm (114), enhancing procedural accuracy and reducing a risk of errors.
  • 5G networks (108) are designed to provide highly reliable connections, minimizing signal disruptions and maintaining stable communication throughout the procedure.
  • the 5G network (108) offers increased bandwidth capacity, allowing for the seamless transmission of large amounts of data in realtime. This is particularly important in radiology, where high-resolution imaging data, such as the CT scans or ultrasound images, need to be transmitted quickly and efficiently between the medical professional (110) and the robotic arm (114) with a reduced latency of less than 20 microseconds.
  • FIG. 1C illustrates a functional diagram (134) of the robotic arm controller (118) and a controlling method, in accordance with an embodiment of the present disclosure.
  • the functional diagram (134) comprises the HMI (116) for sending instructions to an admittance control (136) and the robotic arm controller (118) for performing specific operations.
  • the robotic arm controller (118) may be a part of the robotic system (112) that uses the haptic sensor (120) to diagnose or operate on the patient depending on the instruction provided directly from the HMI (116).
  • various forces depend on control parameters provided in a first place.
  • the haptic sensor (120) is designed to accurately measure the forces applied along different axes, typically in three dimensions (x, y, and z).
  • the haptic sensor (120) can measure both static forces (constant forces) and dynamic forces (changing forces over time) and is also capable of measuring torques or rotational forces around different axes. This is important in applications where both force and rotational force information is required.
  • FIG. ID illustrates a custom-designed radiology equipment probe gripper (138) in accordance with an embodiment of the present disclosure.
  • the gripper (138) in the radiology procedures may be used to securely hold and manipulate probes or sensors.
  • the gripper (138) may be designed to provide precise control and stability while ensuring safe and accurate positioning of the probe during imaging or interventional procedures.
  • the gripper (138) may employ a mechanism specifically designed to securely hold and release the probe. This mechanism may involve jaws, clamps, or specialized gripping surfaces that can adapt to different probe sizes and shapes.
  • the gripper (138) also provides an adjustable grip force to accommodate the different probes or sensors with varying sizes, weights, and handling requirements, which allows an operator to optimize a grip strength for each specific application.
  • the gripper (138) may be compatible with probes or the sensors used in radiology applications.
  • the gripper (138) may also be designed to securely hold and manipulate a particular shape, size, and connection mechanism of the probe.
  • the gripper (138) can also be developed based on specific requirements and considerations of the radiology procedures and the probes used.
  • FIG. 2 illustrates an exemplary block diagram (200) of the system (100), in accordance with an embodiment of the present disclosure.
  • the system (100) may be capable to perform complex medical procedures remotely with the aid of a robotic technology and high-speed communication networks.
  • the system (100) includes various modules such as, a processor (202), a memory (204), an interface (206), a processing engine (208) and a database (210). Further, the processing engine (208) includes a communication module (212), a motion capturing module (214) and an output module (216).
  • the processor (202) may be configured to verify components of the system (100) to ensure an accuracy of sensor readings and responsiveness of actuator control, thereby establishing a stable connection between the user equipment (106) of the medical professional (110) and the robotic arm (114).
  • the processor (202) forms the brain of the system (100), executes instructions necessary to carry out tele-robotic operations. Further, in an embodiment of the present invention, the processor (202) may be configured to drive the actuators of the robotic arm (114) by using motor control units.
  • the processor (202) may receive commands from the robotic arm controller (118) and converts the commands into appropriate control signals to drive motors and achieve a desired robotic arm (114) movement.
  • Algorithms may be used to calculate inverse and forward kinematics of the robotic arm (114), translating desired end effector positions into joint angles and vice versa. They can also consider the dynamics of the robotic arm (114) to ensure smooth and accurate movements.
  • the processor (202) may utilize the feedback from the sensors to implement a closed-loop control.
  • the processor (202) may continuously compare the desired position of the robotic arm (114) or force with the actual measurements and adjust the control signals accordingly to minimize errors and achieve precise control.
  • the processor (202) protects both the robotic arm (114) and the surrounding environment by using software limits, obstacle detection, and emergency stop features.
  • the processor (202) provides realtime feedback and control over the robotic arm (114), enabling the accurate and precise movements during the tele-robotic radiology procedures.
  • the memory (204) may be coupled to the processor (202) and serves as a repository for storing the images captured from the camera during the radiological procedures.
  • the processor (202) receives input commands from the memory (204) and translates the input commands into appropriate control signals for actuators of the robotic arm (114).
  • the memory (204) allows for quick access and retrieval of patient data and the images, facilitating real-time analysis and keeping long-term record.
  • the interface (206) may include hardware and software components for displaying information for the medical professional (110) to perform real-time control and monitoring of the robotic arm (114).
  • the interface (206) may include receiving and processing the feedback that enables the medical professional (110) to perform movements remotely based on the received feedback. Further, the interface (206) is translating the inputs of the medical professional (110) into actions to be executed by the robotic arm (114), ensuring that the robotic arm (114) replicates the precise movements intended by the medical professional (110).
  • the processing engine (208) within the system (100) is an epicenter for facilitating smooth operation and precise control of the robotic arm (114).
  • the processing engine (208) may also be responsible for managing power supply and actuation mechanisms of the robotic arm controller (118) which may ensure reliable and precise control over the movements of the robotic arm (114).
  • a power supply component provides a necessary electrical power to the robotic arm (114) and its associated components.
  • the power supply component includes power distribution units, voltage regulators, and power management systems to ensure stable and reliable power delivery.
  • an actuator control component converts the control signals from the robotic arm controller (118) into appropriate signals for an actuator movement.
  • the actuator control component includes motor controllers or driver circuits that drive the actuators, such as electric motors, hydraulic systems, or pneumatic systems.
  • the actuator control component ensures precise and accurate actuation of the robotic arm (114).
  • the actuation mechanisms may physically convert electrical signals into mechanical motion. They can include motors, gears, belts, hydraulics, or pneumatics, depending on the design of the robotic arm (114). These mechanisms provide the necessary force and motion for the joints of the robotic arm (114) and the end effector.
  • Feedback sensors may be used to monitor the position, velocity, and force of the actuators of the robotic arm (114). Encoders, potentiometers, or other sensors provide feedback on the actuator's performance, enabling closed-loop control and precise positioning.
  • the feedback data is used to ensure accurate and reliable movements of the robotic arm (114).
  • the power component and the actuator component may provide consistent and reliable power delivery and uninterrupted functioning of the robotic arm (114) during the medical procedures, respectively.
  • the processing engine (208) encompasses various modules that work in concert to deliver a seamless tele-robotic experience.
  • the communication module (212) may be configured to integrate hardware or the robotic system (112) with the network (108).
  • the communication module (212) may provide a secure and efficient communication channel that is foundational for conducting telerobotic radiological procedures.
  • the communication module (212) may be coupled to the processor (202), to establish the real-time machine-to-machine (M2M) communication link between the user equipment (106) of the medical professional (110) and the robotic arm (114) of the robotic system (112) by using the network (108).
  • M2M machine-to-machine
  • the communication module (212) may be configured to leverage the network (108) with low latency, which is essential in maintaining a continuous and instantaneous exchange of information between the medical professional (110) and the robotic arm (114).
  • the communication module (212) may be configured to facilitate seamless and reliable communication between the medical professional (110) and the robotic arm (114).
  • the communication module (212) may enable transmission of control commands from the medical professional (110) to the robotic arm (114) and the feedback data from the robotic arm (114) to the medical professional (110).
  • the communication module (212) may enable the medical professional (110) to use the haptic device (130) at the user equipment (106) to control the movement of the robotic arm (114).
  • the haptic device (130) may be used with the HMI (116) of the user equipment (106) to enable the medical professional (110) to view the virtual environment for conducting the radiological procedure virtually.
  • the feedback may be haptic feedback provided to the medical professional (110) in real time by using the haptic device (130) while manipulating the robotic arm (114).
  • the communication module (212) may establish a network connectivity between the user equipment (106) of the medical professional (110) and the robotic arm controller (118) and handles the transmission of data.
  • the communication module (212) may utilize wired or wireless communication technologies depending on the specific system requirements. It ensures an efficient and reliable transfer of the control commands, sensor data, and other relevant information.
  • the communication module (212) implements communication protocols to facilitate data exchange.
  • the communication module (212) may utilize standard protocols such as, but not limited to, a Transmission Control Protocol (TCP)/ Internet Protocol (IP) or custom protocols designed specifically for the tele -robotic radiology system (100).
  • TCP Transmission Control Protocol
  • IP Internet Protocol
  • the communication module (212) handles formatting, packaging, and parsing of messages to ensure accurate and synchronized communication.
  • the communication module (212) is configured to manage the latency and optimize the data transmission for low-latency operation. This may involve techniques such as prioritization of the control commands, data compression, or the use of highspeed communication protocols.
  • the communication module (212) may incorporate encryption and security measures to protect data privacy and integrity and may also include error detection and recovery mechanisms to handle packet loss, network disruptions, or communication errors.
  • the motion capturing module (214) may be configured to receive directional inputs from the medical professional (110) by using the haptic device (130).
  • the motion-capturing module (214) may be configured to transmit the directional inputs in the form of movements to the robotic arm (114) of the robotic system (112) over the network (108).
  • the motion capturing module (214) may be configured to enable the robotic system (112) to receive the directional inputs and translate into physical movements of the robotic arm (114), effectively creating an extension of the medical professional’s (110) own movements at a distance.
  • the motion capturing module (214) may be configured to enable the robotic arm (114) to mimic the movements of the medical professional (110) in real time based on feedback from the haptic device (130). In such embodiment, the motion capturing module (214) may be configured to enable the robotic arm (114) to mimic the movements of the medical professional (110) by using the actuators and the motors of the robotic system (112).
  • the output module (216) may be configured to display the captured images and a complete setup of the patient on the user equipment (106) in real time through the network (108), so that the medical professional (110) may review the images and other feedback from the procedure to perform remote diagnosis and decision making.
  • safety features may also be included in the system (100) to ensure safe operation of the robotic arm (114).
  • the system (100) includes emergency stop buttons, limit switches, or torque sensors that detect excessive forces and trigger safety protocols.
  • Safety measures are implemented to protect the robotic arm (114), the medical professional (110), and the surrounding environment. Temperature and environmental sensors may be incorporated to monitor ambient conditions during the radiology procedures. The information can be important for ensuring proper functioning of the robotic arm (114) and stability of sensitive components without exposure to extreme temperatures.
  • the database (210) may be integrated with the system (100) to store and manage the information.
  • the database (210) may securely archives the data which includes patient records, procedural images, and operational logs, ensuring data integrity and availability for future reference and analysis.
  • FIG. 3 illustrates an exemplary flow diagram of a process (300) for conducting the tele-robotic radiology, in accordance with an embodiment of the present disclosure.
  • the process (300) prepares the tele-robotic radiology system (100), including the robotic arm (114), imaging equipment, and the communication infrastructure. The power on the system (100) is turned on and ensures all the components are functioning properly.
  • the process (300) includes a step of establishing the network connectivity between the user equipment (106) of the medical professional (110) and the robotic arm (114).
  • the process (300) includes setting up the user equipment (106) of the medical professional (110) with a necessary software and the user interface for controlling the robotic arm (114) and ensuring the medical professional (110) has access to relevant patient data, imaging tools, and controls required for the radiology procedure.
  • an administrator may position the patient appropriately for the radiology procedure and can also calibrate and adjust the imaging equipment, such as X-ray detectors or ultrasound transducers, based on the patient’s anatomy and desired imaging views.
  • a secure and reliable communication link between the user equipment (106) of the medical professional (110) and the robotic arm (114) is established.
  • the process (300) includes performing system (100) checks to ensure the proper sensor readings, the actuator control, and the communication.
  • the administrator uses an interface of the robotic arm controller (118) or the haptic device (130) to manipulate the robotic arm (114) remotely.
  • the administrator controls the movements of the robotic arm (114) and positioning to perform the required radiology procedure, such as positioning the imaging probe, adjusting the field of view, or performing interventional tasks. It collaborates with other medical professionals (110) involved in the procedure, providing them with the necessary information and coordinating actions as needed.
  • the process (300) begins with a step (302) of verifying the power supply and connectivity, followed by a step (304) of powering the robotic system (112) and the camera. It ensures that the robotic arm (114) and its accompanying systems are fully operational and ready for the procedure.
  • the process (300) includes a step (306) of connecting the haptic device (130), followed by a step (308) of allowing the medical professional (110) to log in to a user interface and maneuver the haptic device (130) in response to the captured images.
  • the process (300) includes a step (310) of enabling the operator to press indicators to move the robotic arm (114) in the desired direction.
  • the robotic arm (114) is equipped with 6 degrees of freedom positional sensing, allowing it to detect position and orientation in space.
  • the process (300) includes a step (312) of enabling the medical professional (110), such as the doctor, to move the haptic device (130) in directions to capture a range of movements based on a live communication feed.
  • the process (300) also includes a step (314) of enabling the medical professional (110) located at another location to move the haptic device (130) towards an affected organ of the patient to intuitively move the robotic arm (114) in such direction.
  • the haptic device (130) provides force feedback to the medical professional (110), allowing the medical professional (110) to control the robotic arm (114) with precision.
  • the process (300) includes a step (316) of transmitting sound waves to capture 2D images of the organs when the robotic arm (114) is moved toward the affected organ of the patient. The images are transmitted to the medical professional (110) for analysis.
  • the process (300) includes a step (318) of providing a live transmission of the entire patient setup that may be captured by using the camera to a screen of the medical professional (110) with negligible delay using the private 5G network (108).
  • the camera may be attached to the robotic arm (114) to continuously monitor the feedback from the sensors of the robotic arm (114) and the imaging equipment and makes necessary adjustments to the movements of the robotic arm (114), positioning, or imaging parameters based on the real-time feedback to ensure accurate and optimal results.
  • the process (300) includes a step (320) of enabling the medical professional (110) to complete the diagnosis in real-time or asynchronously, upon conducting the procedure virtually.
  • FIGS. 4A and 4B illustrate a use case scenario (400A) for conducting the tele-robotic radiology procedure, in accordance with an embodiment of the present disclosure.
  • a use case scenario (400A) of a needle biopsy using the system (100) is disclosed.
  • the needle biopsy is a minimally invasive procedure used to collect tissue samples from suspicious or abnormal areas within a body for diagnostic purposes.
  • the administrator needs to prepare the tele -robotic radiology system (100), including the robotic arm (114), the imaging equipment, and the communication infrastructure.
  • the administrator can power on the system (100) and ensure all components are functioning properly and also establish the network connectivity between the user equipment (106) of the medical professional (110) and the robotic arm (114).
  • the administrator can also set up the user equipment (106) of the medical professional (110) with the necessary software and the user interface for controlling the robotic arm (114) and ensure access to the relevant patient data, the imaging tools, and controls required for the biopsy procedure.
  • the administrator can position the patient appropriately based on a target area for the biopsy and calibrate or adjust the imaging equipment, such as the ultrasound transducers or CT scanners, to visualize the target area.
  • the system (100) establishes a secure and reliable communication link between the the user equipment (106) of the medical professional (110) and the robotic arm (114) and also performs system (100) checks to ensure the proper sensor readings, the actuator control, and the communication.
  • the operator uses the interface of the robotic arm controller (118) to remotely manipulate the robotic arm (114) and visualize the target area using the imaging feedback from the sensors of the robotic arm (114) or the imaging equipment. It controls the movements of the robotic arm (114) to position a needle accurately at the target area under real-time imaging guidance.
  • a next step in the needle biopsy is to guide the robotic arm (114) to position the needle accurately using the imaging feedback.
  • the system (100) activates a needle deployment mechanism to insert the needle into the target area. It also collects the tissue samples using the needle and retract it once the samples are obtained. There is real-time feedback and adjustment by continuously monitoring the imaging feedback and adjusting the movements of the robotic arm (114) if necessary for optimal needle placement and sample collection.
  • the system (100) also enables collaborating with other medical professionals (110), such as radiologists or pathologists, to ensure the accuracy and adequacy of the collected tissue samples. For procedure completion and evaluation, the system (100) verifies the completion of the biopsy procedure and also evaluates a quality of the obtained samples and the success of the procedure.
  • the administrator also needs to ensure the proper positioning of the patient and the system (100) while evaluating the quality of the obtained images and the success of the procedure.
  • the administrator can safely power off the system (100), disconnect the user equipment (106) of the medical professional (110) from the robotic arm (114), and ensure proper disposal of the collected tissue samples.
  • ultrasounds (400B) covered using the system (100) includes ultrasounds (400B) of the liver, gall bladder, pancreas, right kidney, spleen and left kidney, and urinary bladder, among others.
  • the system (100) can be easily used to gather the ultrasounds remotely.
  • An ultrasound probe is integrated with the robotic arm (114), allowing it to be maneuvered and positioned accurately under a control of the medical professional (110).
  • the probe may be equipped with the additional sensors to capture position and orientation information for precise imaging.
  • the ultrasound probe captures the ultrasound images in real-time.
  • the imaging data is processed by the ultrasound system, which generates high-resolution images based on echoes received from the tissues.
  • the captured ultrasound images are compressed and encoded into a suitable format for transmission over the 5G network (108) which ensures efficient data transfer without compromising the quality of the images.
  • the encoded ultrasound images are transmitted over the 5G network (108) in real-time.
  • the high-speed and low-latency capabilities of 5G network (108) enable seamless and near- instantaneous transfer of the imaging data from the robotic arm (114) to the administrator console/ interface.
  • FIG. 5 illustrates an exemplary block diagram of a computer system (500) in which or with which embodiments of the present invention can be utilized, in accordance with an embodiment of present disclosure.
  • the computer system (500) may include an external storage device (510), a bus (520), a main memory (530), a read only memory (540), a mass storage device (550), a communication port (560), and the processor (570).
  • an external storage device 510
  • bus 520
  • main memory 530
  • read only memory 540
  • mass storage device 550
  • communication port 560
  • processor 570
  • a person skilled in the art will appreciate that computer system (500) may include more than one processor (570) and the communication ports (560).
  • the processor (570) may include various modules associated with embodiments of the present disclosure.
  • the external storage device (510) may be any device that is commonly known in the art such as, but not limited to, a memory card, a memory stick, a solid-state drive, a hard disk drive (HDD), and so forth.
  • the bus (520) may be communicatively coupled with the processor(s) (570) with the other memory, storage, and communication blocks.
  • the bus (520) may be, e.g., a Peripheral Component Interconnect (PCI)/PCI Extended (PCI-X) bus, a Small Computer System Interface (SCSI), a Universal Serial Bus (USB) or the like, for connecting expansion cards, drives and other subsystems as well as other buses, such a front side bus (FSB), which connects the processor (570) to the computer system (500).
  • PCI Peripheral Component Interconnect
  • PCI-X PCI Extended
  • SCSI Small Computer System Interface
  • USB Universal Serial Bus
  • the main memory (530) may be a Random Access Memory (RAM), or any other dynamic storage device commonly known in the art.
  • the Read-only memory (540) may be any static storage device(s) e.g., but not limited to, a Programmable Read Only Memory (PROM) chips for storing static information e.g., start-up or Basic Input/Output System (BIOS) instructions for the processor (570).
  • PROM Programmable Read Only Memory
  • the mass storage device (550) may be any current or future mass storage solution, which may be used to store information and/or instructions.
  • Exemplary mass storage solutions include, but are not limited to, a Parallel Advanced Technology Attachment (PATA) or a Serial Advanced Technology Attachment (SATA) hard disk drives or solid-state drives (internal or external, e.g., having Universal Serial Bus (USB) and/or Firewire interfaces), one or more optical discs, Redundant Array of Independent Disks (RAID) storage, e.g., an array of disks (e.g., SATA arrays).
  • PATA Parallel Advanced Technology Attachment
  • SATA Serial Advanced Technology Attachment
  • SSD Universal Serial Bus
  • RAID Redundant Array of Independent Disks
  • the communication port (560) may be any of an RS-232 port for use with a modem-based dialup connection, a 10/100 Ethernet port, a Gigabit or 10 Gigabit port using copper or fiber, a serial port, a parallel port, or other existing or future ports.
  • the communication port (560) may be chosen depending on the network (108), such a Focal Area Network (LAN), Wide Area Network (WAN), or any network to which the computer system (500) connects.
  • operator and administrative interfaces e.g., a display, a keyboard, a joystick, and a cursor control device
  • the bus (520) may also be coupled to the bus (520) to support a direct operator interaction with the computer system (500).
  • Other operator and administrative interfaces may be provided through network connections connected through the communication port (560).
  • Components described above are meant only to exemplify various possibilities. In no way should the aforementioned exemplary computer system (500) limit the scope of the present disclosure.
  • FIG. 6 illustrates a method (600) for executing a tele-robotic radiological procedure utilizing a robotic arm (114), in accordance with an embodiment of present disclosure.
  • Step (602) includes establishing a connection between a user equipment (106) of a medical professional (110) and a robotic system (112) by using a network (108).
  • the step (602) ensures that sensors and actuators of the robotic arm (114) are functioning accurately, providing a necessary groundwork for intricate tasks that follow.
  • Step (604) includes integrating the robotic system (112) located at a first location with the network (108).
  • Step (606) includes establishing a real-time machine-to-machine (M2M) communication link between the medical professional (110) and the robotic arm (114) of the robotic system (112) by using the network (108).
  • M2M machine-to-machine
  • Step (608) includes enabling the medical professional (110) located at a second location to use a haptic device (130) at the user equipment (106) to control a movement of the robotic arm (114) of the robotic system (112).
  • Step (610) involves receiving directional inputs of the medical professional (110) by using the haptic device (130) and transmit the directional inputs in form of movements to the robotic arm (114) of the robotic system (112).
  • Step (612) includes enabling the robotic arm (114) to mimic the movements of the medical professional (110) in real time based on feedback received from the haptic device (130).
  • the step (612) translates the directional inputs of the medical professional (110) into corresponding movements of the robotic arm (114), effectively creating an extension of the medical professional’s (110) own movements at a distance.
  • Step (614) includes displaying captured images of a patient to the user equipment (106) in real time through the network (108) to maintain a real-time nature of the procedure.
  • the haptic device (130) is used with a Human Machine Interface (HMI) (116) of the user equipment (106) to enable the medical professional (110) to view virtual environment for conducting the radiological procedure virtually.
  • HMI Human Machine Interface
  • the network (108) is a fifth generation (5G) network.
  • the method (600) includes a step of enabling the medical professional (110) to complete diagnosis in real-time or asynchronously, upon conducting the procedure virtually.
  • the method (600) includes a step of providing haptic feedback to the medical professional (110) in real-time by using the haptic device (130) while manipulating the robotic arm (114).
  • the method (600) includes a step of verifying one or more components of a system (100).
  • the method (600) includes a step of displaying a complete setup of the patient on the user equipment (106).
  • the method (600) includes a step of managing power supply and actuation mechanism of the robotic arm (114). [00135] In an embodiment, the method (600) includes a step of converting a control signal from a robotic arm controller (118) into appropriate signal for an actuator movement.
  • the robotic system (112) comprises a 6-degree- of-freedom positional sensing robotic arm (114) with a radiological probe and a 3 degree of freedom force feedback to provide feedback when pressed against any object.
  • the proposed invention provides a system for efficiently executing a tele-robotics radiology system.
  • the proposed invention provides a system that allows medical professionals to perform procedures remotely, regardless of their physical location improving rural access to healthcare and efficient emergency care.
  • the proposed invention provides a system that provides precise and controlled movements, allowing for accurate positioning of instruments and imaging devices.
  • the proposed invention provides a system that provides easy accessibility and cost-effectiveness for enhanced user comfort and safety while performing a seamless telemedicine integration.
  • the proposed invention provides a system that enables real-time imaging feedback, with a high-speed data transfer and a low latency ( ⁇ 20 ms), during a procedure to visualize the procedure and make immediate adjustments based on feedback, ensuring optimal instrument placement and accurate targeting.
  • the proposed invention provides a system that offers enhanced dexterity compared to human hands and an efficient M2M connection, allowing for intricate maneuvers and precise control. [00146] The proposed invention provides a system that can be especially beneficial in complex radiological procedures where fine manipulation is required with an integrated QoS for critical operations and remote robotic assistance, leading to improved outcomes and reduced procedural risks.
  • the proposed invention provides a system that can help reduce user fatigue during lengthy procedures as a robotic arm controller can assist in minimizing a physical strain associated with performing repetitive motions or maintaining prolonged positions, allowing administrators to focus on the procedure with reduced physical stress.
  • the proposed invention provides a system that can incorporate safety features such as collision detection and force feedback mechanisms to help prevent accidental injuries by alerting an administrator or automatically halting robotic arm's movements when potential risks are detected.

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Abstract

La présente divulgation concerne un système (100) et un procédé (600) pour réaliser des procédures radiologiques télérobotiques comprenant : un processeur (202) pour établir une connexion entre un équipement utilisateur (106) et un système robotique (112) à l'aide d'un réseau (108) ; une mémoire (204) pour stocker des images ; un moteur de traitement (208) pour : intégrer le système robotique (112) au réseau (108) ; permettre une communication entre le professionnel médical (110) et le bras robotique (114) à l'aide du réseau (108) ; utiliser un dispositif haptique (130) pour commander le mouvement d'un bras robotique (114) ; transmettre des entrées directionnelles du professionnel médical (110) au bras robotique (114) ; permettre au bras robotique (114) d'imiter les mouvements du professionnel médical (110) ; et afficher les images d'un patient sur l'équipement utilisateur (106) par l'intermédiaire du réseau (108).
PCT/IN2024/050718 2023-07-03 2024-06-10 Système et procédé de réalisation de procédures radiologiques télérobotiques à l'aide d'un bras robotique Ceased WO2025008850A1 (fr)

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US20140058406A1 (en) * 2012-08-24 2014-02-27 Nikolaos V. Tsekos Robotic Device and Systems for Image-Guided and Robot-Assisted Surgery
EP2887884A1 (fr) * 2012-08-27 2015-07-01 University Of Houston Dispositif robotique, logiciel, matériel système associés et leurs procédés d'utilisation en chirurgie guidée par l'image et assistée par robot

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