Active Surgical End-Effector Tracking With Moveable Markers
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Solution Overview
Problem
Existing position recognition systems for robot-assisted surgeries require rigidly attached tracking sensors and multiple markers to accurately determine the 3-dimensional position of objects, which limits their applicability to moveable objects and increases complexity.
Innovation Solution
A surgical robot system with electronically controlled end-effectors featuring moveable and fixed tracking markers, allowing precise 3-dimensional position determination using cameras, and interchangeable end-effectors for various surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple tracking markers are rigidly attached to the object, then measurement precision is improved, but device complexity and ease of operation deteriorate due to the inability to track moveable objects
Solution Approach 1:
The tracking marker array is designed to be moveable relative to the object being tracked, allowing the system to adapt to objects that change position or orientation. The array can be repositioned on the object while maintaining tracking capability, enabling the system to track moveable surgical instruments throughout the procedure.
Solution Approach 2:
The tracking system uses an array of multiple individual markers rather than a single rigid attachment. This segmentation allows the markers to be distributed across different locations on the object, providing redundant tracking information and enabling accurate 3D position determination even when the object moves or changes configuration.
2Measurement precision
If multiple tracking markers are used, then measurement precision is improved, but device complexity increases due to the number of sensors required
Solution Approach 1:
Multiple tracking markers are combined into a single integrated array structure that functions as one cohesive tracking unit. This merging reduces the overall complexity by consolidating multiple individual sensor components into a unified assembly that can be tracked as a single entity while still providing precise 3D position information.
Solution Approach 2:
The tracking marker array is designed to serve multiple functions: it provides 3D position determination, tracks object orientation, and can adapt to different object configurations. This multi-functionality reduces the need for separate tracking systems for different measurement needs, thereby reducing overall device complexity.
3Measurement precision
If tracking markers are rigidly attached to the object, then measurement precision is maintained, but ease of operation deteriorates due to inability to reposition markers
Solution Approach 1:
The tracking marker array transitions from a rigid attachment to a dynamic, repositionable configuration. The array can be moved to different locations on the surgical instrument while maintaining accurate tracking, allowing operators to optimize marker placement for different surgical procedures or instrument configurations without sacrificing measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate, moveable, and versatile tracking of surgical instruments with fewer markers, enhancing precision and flexibility in robot-assisted surgeries.
Implementation Method 1
Infrared signal based position recognition systems may use passive and/or active sensors or markers for tracking the objects. In passive sensors or markers, objects to be tracked may include passive sensors, such as reflective spherical balls, which are positioned at strategic locations on the object to be tracked. Infrared transmitters transmit a signal, and the reflective spherical balls reflect the signal to aid in determining the position of the object in 3D. In active sensors or markers, the objects to be tracked include active infrared transmitters, such as light emitting diodes (LEDs), and thus generate their own infrared signals for 3D detection.
Data Source
AI summary
Active end-effectors for guiding an instrument during a robot-assisted surgery. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and the active end-effector coupled to the robot arm. The active end-effector may have a slide mechanism, which may provide for a greater range of motion of a surgical instrument along a vertical axis.