Multi-Arm Imaging for Precise 3D Surgical Target Pose Tracking
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Solution Overview
Problem
Existing surgical robotic systems face challenges in accurately determining the pose and tracking the movement of targets, such as incisions or markers, during robot-assisted surgeries, which can affect the precision and safety of surgical procedures.
Innovation Solution
A multi-arm robotic system is employed, where two robotic arms are mounted with imaging devices to capture images from different angles, allowing for the calculation of a three-dimensional volume of the target and enabling precise tracking and adjustment of tool paths based on the combined image data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single imaging device is used to track the target, then the device complexity is reduced, but the measurement precision of target pose and movement is insufficient
Solution Approach 1:
The patent combines multiple imaging devices mounted on separate robotic arms to achieve superior target pose measurement precision. The first imaging device on the first robotic arm and the second imaging device on the second robotic arm work together to capture target information from different perspectives, enabling accurate three-dimensional pose determination that cannot be achieved with a single device.
Solution Approach 2:
The system transitions from two-dimensional imaging to three-dimensional pose measurement by utilizing multiple imaging devices positioned at different spatial locations. The robotic arms provide the necessary degrees of freedom to position imaging devices in three-dimensional space, enabling comprehensive target tracking in all spatial dimensions.
2Measurement precision
If multiple imaging devices are used to capture images from different angles, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
Each robotic arm in the system serves multiple functions: it positions and orients its mounted imaging device to capture target images from different angles, while simultaneously providing precise pose information about its own position and orientation. This multi-functionality allows the system to achieve accurate three-dimensional target pose measurement without requiring separate positioning and imaging systems.
Solution Approach 2:
The system incorporates feedback mechanisms where the pose information from the robotic arms is continuously fed back to the processor to accurately determine target pose. The imaging devices provide feedback about target position, and the robotic arm pose data is used to calculate the three-dimensional target coordinates, creating a closed-loop measurement system that maintains high precision.
3Productivity
If real-time image processing is performed to track target movement, then the productivity of surgical procedures improves, but the use of energy increases
Solution Approach 1:
The system maintains continuous image capture and processing throughout the surgical procedure to track target movement in real-time. The imaging devices continuously capture images, and the processor continuously analyzes pose changes, enabling uninterrupted monitoring that improves surgical productivity while managing energy consumption through efficient processing algorithms.
Data Source
AI summary
Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.