Event-Based Vision Sensor for High-Speed Surgical Tool Control
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Solution Overview
Problem
Current autonomous robot arm control systems are limited by the frame rate of image sensors, making it difficult to achieve high-speed control and accurate recognition of surgical tools, especially in surgical systems where tools have similar shapes or are used in varying positions.
Innovation Solution
An information processing apparatus utilizing an event-based vision sensor (EVS) to recognize the position and posture of surgical tools based on luminance changes from a light emitting unit, allowing for higher frame rates and improved control instructions for robot arms, enabling faster and more accurate control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a traditional image sensor is used to acquire image data at a predetermined frame rate, then the system can maintain stable operation, but the recognition speed is limited and high-speed control of the robot arm cannot be achieved
Solution Approach 1:
The patent replaces the traditional frame-based image sensor system with an event-based vision sensor system. The EVS detects luminance changes asynchronously and outputs event data continuously, eliminating the frame rate bottleneck. This substitution enables high-speed recognition (e.g., 1000 fps or higher) and allows the robot arm to be controlled at speeds much faster than traditional systems, directly resolving the contradiction between recognition speed and control speed.
2Speed
If the frame rate of the image sensor is increased to improve recognition speed, then higher control speed can be achieved, but the system complexity and cost increase
Solution Approach 1:
The patent substitutes a traditional high-frame-rate image sensor system with an event-based vision sensor system. The EVS inherently operates at high speeds by detecting luminance changes asynchronously, achieving 1000 fps or higher without the mechanical and electronic complexities of traditional high-speed cameras. This approach provides high frame rates while maintaining simpler system architecture and lower cost.
3Measurement precision
If traditional image sensors are used, then the system structure is simple, but it is difficult to accurately recognize surgical tools with similar shapes or varying positions
Solution Approach 1:
The patent attaches light-emitting units to surgical tools that emit light in specific patterns (different colors, frequencies, or modulation patterns). The event-based vision sensor detects these luminance changes, allowing the recognition unit to identify tools by their unique light patterns rather than relying solely on shape recognition. This enables accurate differentiation of tools with similar shapes or in varying positions without significantly increasing system complexity.
Solution Approach 2:
The light-emitting units on surgical tools emit light periodically with unique frequencies or patterns assigned to different tools. The EVS detects these periodic luminance changes, and the recognition unit identifies tools based on their characteristic periodic signals. This periodic signaling approach enables precise tool recognition even when tools have similar shapes or are positioned differently, while maintaining relatively simple system architecture.
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
The solution enhances the control speed and accuracy of robot arms in surgical systems by leveraging event-based vision sensors to process high-speed luminance changes, allowing for precise recognition and control of surgical tools at higher frame rates than traditional image sensors.
Implementation Method 1
an event-based vision sensor (EVS) including a plurality of pixels that detects a change in luminance of light from a light emitting unit provided in the surgical tool as an event
Data Source
AI summary
To autonomously control a robot arm at a higher speed. An information processing apparatus according to an embodiment includes a position/posture recognition unit (22) configured to recognize a position and a posture of a surgical tool on the basis of event data input from an event-based vision sensor (EVS) including a plurality of pixels that detects a change in luminance of light from a light emitting unit provided in the surgical tool as an event, and a control instruction unit (23) configured to generate control information for controlling a robot arm that supports a medical device including the EVS on the basis of the recognized position and posture of the surgical tool.