Armrest-Mounted EM Tracker for Surgical Robot Input Device Precision

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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

VSEngineering Contradiction Analysis

1Measurement precision

If signal filtering is applied to reduce system noise, then measurement precision is improved, but latency increases affecting stable operation

Engineering Contradiction:

Improvespatial state signal accuracyVSAvoidcontrol latency

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The EM transmitter is positioned in advance at the armrest to pre-establish the electromagnetic field in the tracking space, ensuring the UID sensor is always within the optimal tracking zone before control actions are needed, thereby reducing latency while maintaining precision

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The armrest serves as an intermediary structure that locally positions the EM transmitter near the operator's hand, creating a dedicated tracking zone that reduces signal noise and latency without requiring system-wide filtering

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If the UID is positioned away from the EM transmitter, then operator comfort is improved, but measurement precision deteriorates due to signal noise

Engineering Contradiction:

Improveoperator comfortVSAvoidpose measurement accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The EM tracking field is locally concentrated at the armrest position where the operator naturally holds the UID, creating a high-precision tracking zone exactly where it is needed most, without affecting overall system operation or operator comfort

Inventive Principle:

Principle #3Local quality

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

Methodology Applied

Scientific EffectElectromagnetic field generation: Electromagnetic Induction

Data Source

PatentUS11622819B2Locally positioned EM tracker

Publication Date: 2023.04.11 AURIS HEALTH INC

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.