Manipulator Calibration Using Medical Imaging Deviation
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Solution Overview
Problem
Diagnostic and therapeutic manipulator systems face challenges in achieving precise calibration at the point of use due to the degradation of accuracy over time, especially in medical environments where conventional high-accuracy measuring systems are expensive and difficult to transport.
Innovation Solution
A method utilizing medical imaging devices to capture images of the manipulator and end effector, determining actual poses, calculating calibration parameters based on deviations, and recalibrating the system to maintain high accuracy, which can be performed using existing medical imaging equipment in the operating room.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional high-accuracy measuring systems are used for calibration, then manufacturing precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent uses optical copying by capturing images of the manipulator and end effector with the medical imaging device. Instead of using complex physical measuring systems, the system creates visual copies (images) of the manipulator components and uses image processing to determine actual positions and calculate calibration parameters, thereby simplifying the calibration system while maintaining accuracy
Solution Approach 2:
The patent replaces mechanical measuring systems with an optical/image-based system. The medical imaging device captures images, and computer algorithms process these images to determine positions and calculate deviations. This substitution eliminates the need for complex mechanical measuring equipment while achieving the same calibration functionality
2Manufacturing precision
If conventional high-accuracy measuring systems are used for calibration, then manufacturing precision is improved, but cost increases
Solution Approach 1:
The patent makes the medical imaging device multi-functional by using it for both its primary medical imaging purpose and for manipulator calibration. The same imaging device that captures patient anatomy during procedures is also used to capture images of the manipulator for calibration, eliminating the need for separate dedicated calibration equipment and reducing overall system cost
Solution Approach 2:
The system uses optical copying through image capture instead of expensive physical measuring equipment. By processing images of the manipulator and end effector, the system achieves accurate calibration without requiring costly specialized measuring instruments, thereby reducing calibration costs while maintaining precision
3Ease of operation
If calibration is performed at the point of use, then ease of operation is improved, but measurement precision may deteriorate
Solution Approach 1:
The patent enables the manipulator system to perform its own calibration at the point of use using the integrated medical imaging device. The system captures images of itself (the manipulator and end effector), processes these images to determine actual positions, calculates deviations from target positions, and generates calibration parameters autonomously, making calibration accessible and convenient without requiring external calibration equipment or specialized facilities
Solution Approach 2:
The system uses feedback by capturing images of the manipulator at known target positions, determining actual positions from these images, calculating deviations between target and actual positions, and using this deviation information to generate calibration parameters. This closed-loop feedback approach ensures accurate calibration can be performed at the point of use
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
This method allows for precise and cost-effective calibration of manipulators at the point of use, reducing the need for expensive external calibration systems and ensuring high accuracy for medical procedures.
Implementation Method 1
The imaging device is an X-ray imaging device, an ultrasound imaging device and/or a magnetic resonance imaging device
Implementation Method 2
The imaging device is an X-ray imaging device, an ultrasound imaging device and/or a magnetic resonance imaging device
Implementation Method 3
The imaging device is an X-ray imaging device, an ultrasound imaging device and/or a magnetic resonance imaging device
Data Source
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AI summary
A method for calibrating a manipulator of a diagnostic and/or therapeutic manipulator system, wherein the manipulator system includes at least one medical imaging device. The method includes at least: a) moving the manipulator to at least one target pose; b) capturing at least one image of at least a part of the manipulator and/or at least of a part of an end effector of the manipulator with the medical imaging device if the manipulator has moved to the target pose; c) determining the actual pose of the manipulator using the captured image; d) determining the deviation between the target pose and the actual pose of the manipulator; and e) calculating at least one calibration parameter on the basis of the determined deviation, and calibrating the manipulator.