Robotic EM Field Generator Repositioning Without Re-Registration
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Solution Overview
Problem
Current robotic medical systems require complex and user-intensive registration steps to align electromagnetic (EM) field generators with robotic or global coordinate frames, which can be time-consuming, inaccurate, and limit the flexibility of EM sensor tracking during procedures.
Innovation Solution
Integrating an EM field generator with a robotic arm allows for automatic registration based on the arm's kinematics, enabling the generator to be repositioned during procedures without re-registering, improving accuracy and flexibility in EM sensor tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex manual registration steps are used to align EM field generator with robotic coordinate frame, then registration accuracy can be improved, but the process becomes time-consuming and user-intensive
Solution Approach 1:
The system performs automatic registration by having the robotic arm autonomously navigate to predefined anatomical landmarks and collect coordinate data without requiring manual user input for each registration step, thereby reducing time while maintaining accuracy through systematic automated measurement
Solution Approach 2:
Anatomical landmarks are pre-identified and their coordinates are pre-stored in the system before the actual registration process begins, allowing the robotic arm to directly navigate to these predetermined points and perform rapid automatic registration without time-consuming manual identification
2Stability of the object's composition
If EM field generator is fixed in position, then registration stability is improved, but flexibility to reposition during procedures is lost
Solution Approach 1:
The EM field generator is mounted on the movable robotic arm rather than being fixed, allowing it to dynamically reposition during procedures while the system automatically maintains registration stability through continuous coordinate transformation based on the robotic arm's known kinematic state
Solution Approach 2:
The system continuously tracks the position of the robotic arm carrying the EM field generator and uses this feedback to automatically update the coordinate transformation, ensuring registration stability is maintained even as the generator is repositioned to different locations
3Device complexity
If manual registration process is used, then system complexity is reduced, but operational ease and automation are worsened
Solution Approach 1:
The manual mechanical registration process is replaced with an automated robotic system that uses pre-stored anatomical coordinate data and automatic navigation algorithms, reducing the need for complex manual alignment operations while significantly improving ease of operation
Solution Approach 2:
The system uses pre-captured anatomical landmark coordinates stored in memory as a reference model, allowing the robotic arm to automatically replicate the correct positioning by navigating to these stored coordinate points, thereby simplifying the registration operation without requiring complex real-time manual measurement
4Area of stationary object
If large EM field generators are used, then field coverage is improved, but device size and compactness are worsened
Solution Approach 1:
The EM field generator is made movable by mounting it on the robotic arm, allowing a compact generator to achieve large effective field coverage by being positioned and repositioned at multiple locations around the patient, eliminating the need for a single large fixed generator
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 approach simplifies the registration process, enhances the accuracy of EM sensor positioning, allows for smaller and more compact EM field generators, and facilitates automatic instrument tracking and anatomical mapping by enabling the EM field generator to be moved with the robotic arm, improving overall procedural efficiency.
Implementation Method 1
The EM field generator can produce a magnetic field within which the positions of one or more EM sensors can be determined
Data Source
AI summary
Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.