A surgeon input system using an event-based visual sensor for a surgical robotic system

The event-based visual sensor and inertial tracking system addresses the challenge of precise surgeon input translation in robotic surgery by providing low-latency, real-time control and ergonomic feedback for accurate surgical instrument movement.

JP2026506998APending Publication Date: 2026-02-27KARL STORZ SE & CO KG
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Patent Information

Application Number
JP2025548323
Authority / Receiving Office
JP · JP
Patent Type
Applications
Current Assignee / Owner
Priority Date
2023-06-09
Filing Date
2024-02-20
Publication Date
2026-02-27

AI Technical Summary

Technical Problem

Existing robotic surgical systems face challenges in accurately and efficiently translating surgeon input into precise movements of surgical instruments, particularly in minimally invasive procedures, due to constraints on instrument motion and the need for real-time tracking without perceptible delays.

Method used

A novel tracking system using event-based visual sensors and inertial measurement units to track surgeon input devices, allowing for precise control of surgical instruments with low latency and real-time responsiveness, incorporating ergonomic feedback to maintain tool positioning within a defined volume.

Benefits of technology

Enables high-precision, real-time control of surgical instruments with reduced latency and enhanced ergonomic feedback, ensuring accurate instrument movement and minimizing tool misalignment during robotic surgeries.

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Abstract

A user input system for providing input to a robotic surgical system for use in commanding the movement of a robotic manipulator utilizes a surgeon input tool configured to be worn or held by a user. The surgeon input tool includes multiple LEDs, each emitting light at a different blinking frequency and duty cycle. Event-based cameras positioned around the surgeon console are used to capture the user's movement of the surgeon input tool. The system receives input from the event cameras in response to optical sensing of the LEDs on the surgeon input tool and uses that information to estimate the position and / or orientation of the surgeon input tool. Motion commands corresponding to desired movement of a surgical instrument by the robotic manipulator arm are generated based on the estimated position or pose.
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