Inter-Arm Registration Feedback for Precise Teleoperation
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Solution Overview
Problem
In computer-assisted devices with repositionable arms, determining accurate registration between imaging devices and other instruments is challenging, especially when the workspace is separated from the operator, leading to inaccuracies in translating hand movements into instrument motions.
Innovation Solution
A control unit that receives images from an imaging device, determines observed and expected velocities or orientations of instruments, transforms them into a common coordinate system using a registration transform, and updates the transform based on errors to ensure precise alignment and motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If teleoperation is used to control instruments from a separated workspace, then operator safety and flexibility are improved, but registration accuracy between imaging device and instruments deteriorates
Solution Approach 1:
The system continuously captures images of the instrument from the imaging device, calculates observed velocity from image sequences, compares it with expected velocity from kinematic models, and updates the registration transform based on the error between observed and expected velocities. This closed-loop feedback mechanism maintains registration accuracy despite the physical separation between operator and workspace.
Solution Approach 2:
The patent replaces direct mechanical coupling and manual alignment procedures with a computational vision-based registration system. Instead of relying on mechanical fixtures or manual coordinate alignment, the system uses image processing, velocity calculation, and iterative transform updates to establish and maintain accurate registration between the imaging device and instruments.
2Device complexity
If manual alignment methods are used to establish registration, then device complexity is reduced, but registration precision and motion control accuracy deteriorate
Solution Approach 1:
The system performs self-calibration and self-correction by automatically capturing images, calculating velocities, comparing with kinematic models, and updating registration transforms without requiring external intervention or complex manual alignment procedures. The instrument and imaging device essentially register themselves through the velocity-based feedback loop.
Data Source
AI summary
Techniques for inter-arm registration include a computer-assisted system having a repositionable arm and a control unit coupled to the repositionable arm. The control unit is configured to receive, from an imaging device, image data of an instrument, the instrument mounted to the repositionable arm; determine an observed geometric property of a feature set of the instrument based on the image data, the feature set comprising at least one feature; determine an expected geometric property of the feature set based on at least kinematic data of the repositionable arm; determine a difference between the observed geometric property and the expected geometric property; update, based on the difference. a registration transform to produce an updated registration transform associated with the instrument; and control the instrument using the updated registration transform.