Fiber-Optic Handheld Input Tracking for Precise Surgical Robot Control
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Solution Overview
Problem
Existing surgical robotic systems face precision and latency issues due to noise and magnetic interference in user input device tracking, which can lead to undesired arm or tool movement, especially when sub-mm and sub-degree precision is required.
Innovation Solution
A surgical robotic user input apparatus utilizing a fiber-optic cable with intrinsic sensors, such as fiber Bragg grating sensors, to track the pose of a handheld user input device, providing precise and accurate control without electrical power requirements, enabling continuous and robust tracking of the device's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If electromagnetic trackers are used for spatial tracking of user input device, then tracking coverage is provided, but measurement precision deteriorates due to noise and magnetic interference
Solution Approach 1:
The patent replaces electromagnetic tracking systems with an optical fiber-based sensing system. Instead of using electromagnetic fields that are susceptible to interference, the invention uses optical fibers with intrinsic sensors (such as fiber Bragg grating sensors) that detect pose through optical properties, thereby eliminating magnetic interference and noise issues while achieving sub-mm position and sub-degree orientation precision
Solution Approach 2:
The patent introduces optical fiber as an intermediary medium between the user input device and the tracking system. The optical fiber cable with intrinsic sensors acts as a mediator that transmits mechanical deformations (caused by device movement) into optical signal changes, providing accurate pose information without direct electromagnetic field interaction
2Measurement precision
If signal filtering is applied to reduce noise, then measurement precision improves, but latency increases
Solution Approach 1:
The patent extracts the sensing function directly into the optical fiber cable itself through intrinsic sensors embedded within the fiber. This eliminates the need for separate filtering processing steps because the sensors provide clean, direct measurements of device pose through optical property changes, achieving both high precision and low latency simultaneously
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 system achieves precise and stable control of surgical robotic arms and tools by continuously updating the pose of the user input device, reducing noise and latency, and allowing for accurate surgical maneuvers.
Implementation Method 1
The fiber-optic cable has intrinsic sensors, such as fiber Bragg grating sensors, to track the pose of a handheld user input device
Implementation Method 2
A surgical robotic user input apparatus has a handheld user input device (handheld UID) that is attached to a fiber-optic cable
Data Source
AI summary
A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.