Armrest-Mounted EM Tracker for Noise-Free Surgical Robot Control
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Solution Overview
Problem
Surgical robotic systems face challenges in accurately measuring the pose of user input devices due to system noise, which can lead to control errors and latency issues, necessitating a noise-free, accurate, and real-time sensing methodology for controlling surgical robotic systems.
Innovation Solution
An electromagnetic tracker with an EM transmitter coupled to the armrest of a user console generates a modulated magnetic field within an EM tracking space, allowing the user input device to be positioned in the sweet spot for precise tracking, reducing noise and improving control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If signal filtering is applied to reduce system noise, then measurement precision is improved, but latency increases which deteriorates real-time control performance
Solution Approach 1:
The patent replaces traditional mechanical filtering methods with an electromagnetic tracking system that inherently provides noise-free spatial state signals. The EM tracker uses electromagnetic fields to directly measure the pose of the surgical tool, eliminating the need for signal filtering and associated latency while maintaining high measurement precision.
2Ease of operation
If the UID is positioned away from the EM transmitter, then ease of operation is improved, but measurement precision deteriorates due to being outside the sweet spot
Solution Approach 1:
The patent implements a movable EM transmitter that can dynamically reposition itself relative to the UID. This allows the transmitter to maintain optimal positioning within the UID's reach zone, ensuring the UID remains in the electromagnetic field's sweet spot for accurate tracking while preserving the operator's manipulation freedom.
Solution Approach 2:
The patent introduces a movable mounting mechanism as an intermediary between the EM transmitter and the fixed console structure. This intermediary component enables the transmitter to adapt its position dynamically, mediating between the need for precise tracking and the operator's need for operational freedom.
3Device complexity
If the EM transmitter is fixed in position, then device complexity is reduced, but adaptability deteriorates as the UID may fall outside the tracking zone
Solution Approach 1:
The patent transforms the static EM transmitter mounting into a dynamic system. The transmitter is mounted on a movable mechanism that can adjust its position in response to UID location, maintaining optimal tracking conditions while keeping the overall system relatively simple through straightforward mechanical or electromagnetic actuation.
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
This solution enables accurate and real-time tracking of the user input device, reducing system noise and latency, thereby enhancing the stability and precision of surgical robotic system operations.
Implementation Method 1
an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest
Data Source
AI summary
A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.