Master-Tool Registration for Ambiguous Multi-Tool Image Guidance
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Solution Overview
Problem
Robotic systems face ambiguity in establishing correspondences between multiple tools and their image-space representations, affecting the accuracy and intuitiveness of graphical information display and teleoperational systems, particularly in surgical environments where multiple image-guided tools are used.
Innovation Solution
A robotic system with a control system that receives image data from an imaging device to determine image-space tools and establishes correspondences between these tools and their physical counterparts using disambiguation settings, such as motion-based, pose-based, appearance-based, or operator-specified settings, to improve master-tool alignment and registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple tools are used in robotic systems, then the functionality and versatility of the system is improved, but ambiguity arises in establishing correspondence between tools and image-space tools, affecting measurement precision
Solution Approach 1:
The system performs preliminary disambiguation actions by analyzing motion patterns, poses, and appearance features before final correspondence establishment. The control system proactively resolves ambiguities by comparing predicted tool behaviors with observed image-space tool behaviors, ensuring accurate matching is established before surgical operations begin.
Solution Approach 2:
The system implements feedback mechanisms where the control system continuously monitors the relationship between physical tools and image-space tools. By comparing motion-based, pose-based, and appearance-based features in real-time, the system provides feedback to confirm or correct correspondences, ensuring measurement precision is maintained throughout the procedure.
2Adaptability or versatility
If multiple tools are used in robotic systems, then the versatility of the system is improved, but the complexity of establishing and maintaining accurate correspondences increases, affecting device complexity
Solution Approach 1:
The control system implements a universal disambiguation framework that handles multiple tools through a single integrated process. The same control system manages correspondence establishment for all tools by analyzing motion patterns, poses, and appearance features uniformly, reducing the need for separate complex subsystems for each tool while maintaining versatility.
Solution Approach 2:
The system creates simplified representations (copies) of tool characteristics in the image-space domain. By generating virtual models that replicate physical tool motion, pose, and appearance, the system reduces the complexity of directly managing physical tool correspondences while maintaining accurate mappings for versatile multi-tool operations.
3Loss of information
If graphical information display systems overlay tool information on images, then the information completeness is improved, but the accuracy of tool identification and correspondence may deteriorate due to visual complexity
Solution Approach 1:
The system segments the graphical display into distinct components, each representing specific tool characteristics. By separating motion-based, pose-based, and appearance-based information into discrete visual elements, the system maintains information completeness while preventing visual confusion that could compromise tool identification accuracy.
Solution Approach 2:
The control system acts as an intermediary between the physical tools and the graphical display. It processes and validates tool correspondences through multiple disambiguation methods before presenting information graphically, ensuring that the overlay displays accurate tool information without compromising identification precision despite visual complexity.
Data Source
AI summary
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.