Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system

The surgical navigation system addresses misalignment issues by determining the correspondence between the view vector and pose of a stereoscopic camera and robotic arm using transformation matrices, ensuring precise control and accurate data registration.

AU2020373118B2Pending Publication Date: 2026-07-23TRUE DIGITAL SURGERY
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Patent Information

Application Number
AU2020373118
Authority / Receiving Office
AU · AU
Patent Type
Applications
Current Assignee / Owner
Priority Date
2019-11-01
Filing Date
2020-11-02
Publication Date
2026-07-23
Estimated Expiration
2040-11-02

AI Technical Summary

Technical Problem

Existing surgical navigation systems face misalignment issues between the view vector of a stereoscopic camera and the pose of a robotic arm due to unknown orientations and positions of coupling plates, leading to operator frustration and inaccurate movement commands during intricate procedures.

Method used

A surgical navigation system that determines an accurate correspondence between the view vector of a stereoscopic camera and the pose of a robotic arm by using transformation matrices to account for the unknown orientation and position of the coupling plate, enabling precise control of the robotic arm through correlation between the view vector and the robotic system's pose.

Benefits of technology

Enables precise control of the robotic arm and accurate registration of patient data with live stereoscopic images, reducing operator frustration and improving surgical precision by aligning the view vector with the robotic arm's movement.

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Abstract

A robotic surgical navigation system is disclosed. An example system includes a stereoscopic camera and a robotic arm having an end-effector connected to the camera. The system also includes a navigation computer that determines a first transformation between the stereoscopic camera and a target surgical site, a second transformation between the end-effector and a robotic base of the robotic arm, and a third transformation between the robotic base and the target surgical site. The navigation computer calculates a fourth transformation using the first, second, and third transformations. The fourth transformation represents a transformation between the end-effector and the stereoscopic camera. The navigation computer uses the transformations to determine coordinates for a view vector of the stereoscopic camera that are in a coordinate system of the robotic arm, thereby enabling movement of the robotic arm based on commands provided by an operator in relation to the view vector of the camera.
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Citation Information

Patent Citations

  • Stereoscopic visualization camera and integrated robotics platform

    US20190327394A1