Markerless Robot Positioning Using Motion-Stable Anatomical Regions
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Solution Overview
Problem
Existing robot positioning methods, particularly in medical fields like neurosurgery, often require markers that cause harm to patients and suffer from reduced accuracy due to marker displacement, affecting preoperative planning and surgical operations.
Innovation Solution
A method and system that utilize image capturing apparatuses and medical imaging devices to obtain images of a target object, identify target regions less affected by physiological motions, and determine robot positioning information without markers, using transformation relationships between coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If markers are used for robot positioning, then positioning can be performed, but patient harm increases and positioning accuracy decreases due to marker displacement
Solution Approach 1:
The patent removes markers entirely from the positioning system. Instead of using markers attached to the patient's body, the system uses natural anatomical landmarks and preoperative imaging data to establish coordinate transformations, thereby eliminating patient harm while maintaining positioning capability
Solution Approach 2:
The patent creates a virtual copy of the patient's anatomy through preoperative CT or MRI scans. This digital model serves as the positioning reference instead of physical markers, allowing accurate robot positioning without contacting or harming the patient's body
2Measurement precision
If markers are used for robot positioning, then positioning can be performed, but positioning accuracy decreases due to marker displacement
Solution Approach 1:
The patent removes markers entirely from the positioning system. Instead of using markers attached to the patient's body, the system uses natural anatomical landmarks and preoperative imaging data to establish coordinate transformations, thereby eliminating patient harm while maintaining positioning capability
Solution Approach 2:
The patent performs positioning calculations before surgery using preoperative CT or MRI scans. The coordinate transformation relationships are established in advance based on stable anatomical structures visible in the preoperative images, eliminating the need for physical markers that could displace during surgery
3Ease of operation
If image capturing apparatus is positioned manually, then operation is simple, but positioning accuracy and shooting angle precision are insufficient
Solution Approach 1:
The system automatically determines the optimal shooting angle and position of the image capturing apparatus based on the target object's features and the surgical plan. The computer system performs calculations and generates positioning instructions without requiring manual adjustment by the surgeon, achieving both ease of operation and high precision
Solution Approach 2:
The system uses the captured images and automatically compares them with the preoperative planning data to determine if the shooting angle is optimal. This feedback loop allows the system to guide the image capturing apparatus to the correct position and angle automatically
Data Source
AI summary
Embodiments of the present disclosure provide a method and system for positioning a robot and adjusting a posture. The method may include obtaining a first image and a second image of a target object. The first image may be captured using an image capturing apparatus, and the second image may be captured using a medical imaging device. The method may also include determining at least one target region corresponding to at least one target portion of the target object from the first image. The at least one target portion may be less affected by physiological motions than other portions. The method may further include determining positioning information of the robot based on the at least one target region and the second image.