Instrument Location Estimation for Surgical Robotics
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Solution Overview
Problem
Surgical robotic systems experience latency in displaying the location of medical instruments, which can lead to a poor user experience and perceived delay in instrument movement during procedures like endoscopy, affecting the precision and efficiency of medical procedures.
Innovation Solution
A system that estimates the location of an instrument based on initial location data and user commands, displaying the estimated location before confirmation by location sensors, thereby reducing perceived latency and improving responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time display of instrument position is implemented using location sensors, then the position tracking function is provided, but latency occurs in displaying the instrument's position
Solution Approach 1:
The system performs preliminary actions by predicting the instrument's future position based on current position, movement direction, and speed before the actual position is confirmed by sensors. This allows the display to show estimated positions proactively, reducing perceived latency while maintaining accuracy through subsequent confirmation when sensor data becomes available.
2Measurement precision
If the display shows the current confirmed position from location sensors, then measurement accuracy is maintained, but the perceived responsiveness to user commands is reduced
Solution Approach 1:
The system implements a dual feedback mechanism: immediate feedback through predicted position display that responds instantly to user commands, and confirmatory feedback when sensor data is received. This creates the perception of high responsiveness while ultimately relying on accurate sensor measurements for position confirmation.
Solution Approach 2:
The display performs preliminary action by showing predicted positions before sensor confirmation, making the system appear more responsive to user commands. The predicted position is calculated based on current position, movement direction, and speed, providing immediate visual feedback without waiting for sensor data processing delays.
3Measurement precision
If the system waits for location sensor confirmation before displaying position, then data accuracy is ensured, but the display update speed is reduced
Solution Approach 1:
The system performs preliminary position calculation using predicted position based on current position, movement direction, and speed before sensor confirmation is received. This allows the display to update at higher speeds showing predicted positions, while accuracy is maintained through subsequent confirmation when sensor data becomes available.
Solution Approach 2:
The predicted position acts as an intermediary between the user command and the confirmed sensor position. It provides immediate visual feedback that bridges the gap between user action and sensor confirmation, maintaining both display speed and eventual accuracy.
Data Source
AI summary
Provided are systems and methods for displaying an estimated location of an instrument. In one aspect, the method includes determining a first location of the instrument based on first location data generated by a set of one or more location sensors for the instrument, the first location data corresponding to a first time period, and after the first time period, receiving a user command to move the instrument during a second time period. The method also includes estimating a second location of the instrument based on the first location and the received user command, the estimated second location corresponding to the second time period, and confirming the estimated second location based on second location data generated by the set of location sensors. The method further includes causing the estimated second location to be displayed prior to the confirmation of the estimated second location.