End-Effector 3D Camera Tracking for Surgical Tool Positioning
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Solution Overview
Problem
Existing robotic surgical systems face challenges in accurately tracking the position and orientation of surgical tools, particularly during manual insertion, due to line-of-sight obstructions and the need for remote navigation systems, which can be costly and prone to interference.
Innovation Solution
Implementing miniature three-dimensional sensor cameras mounted on the robotic end effector to track surgical tools and anatomical markers directly, eliminating the need for remote cameras and providing real-time, high-accuracy positioning by correlating tool and body part coordinates using image analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If remote navigation systems with three-dimensional camera systems are used to track surgical tools, then the position and orientation of surgical tools can be monitored, but line-of-sight obstructions from surgeon's arms or robotic arms interfere with tracking accuracy
Solution Approach 1:
Instead of placing cameras remotely to observe the surgical field, the patent inverts the approach by mounting cameras directly on the robotic end effector. This allows the camera to track the surgical tool from a fixed position on the robot itself, eliminating line-of-sight obstructions caused by surgeon's arms or other equipment while maintaining continuous tracking capability.
Solution Approach 2:
The patent embeds the tracking camera within the robotic end effector structure itself. The camera is integrated into the robot's own anatomy, nested within the mechanical structure that will perform the surgical task. This eliminates the need for separate remote camera systems and removes the line-of-sight obstruction problem entirely.
2Reliability
If remote cameras are used to track surgical tools, then tracking can be achieved, but the system becomes vulnerable to disruption from interruption of communication between remote camera and robot
Solution Approach 1:
The patent combines the tracking camera and the robotic system into a single integrated unit. The camera is mounted on the end effector, merging the observation function with the execution function. This eliminates separate communication channels between remote cameras and robots, removing the vulnerability to communication interruptions while simplifying the overall system architecture.
Solution Approach 2:
The robotic system performs its own tracking function by carrying the camera on its end effector. The robot essentially tracks itself and the surgical tool it is manipulating, making the system self-sufficient and eliminating dependence on external camera systems and their associated communication infrastructure.
3Measurement precision
If miniature tracking cameras are mounted on the robotic end effector, then real-time high-accuracy positioning is achieved without line-of-sight obstructions, but the device complexity increases
Solution Approach 1:
The robotic end effector is designed to serve multiple functions: it performs the surgical task while simultaneously carrying the tracking camera. This multi-functionality allows the system to achieve high positioning accuracy without adding separate dedicated tracking equipment, as the end effector itself becomes the tracking platform.
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 precise, continuous real-time tracking of surgical tools relative to the surgical plan, enhancing accuracy and reducing the risk of bodily damage by overcoming line-of-sight issues and eliminating the need for costly external navigation systems.
Implementation Method 1
These embodiments determine the initial spatial position and orientation of the tool on the surface of the anatomy body part on which it is to operate, and are also able to monitor the progress of the tool into the anatomic body part as it performs its function
Data Source
AI summary
A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.