Multi-Arm Robotic Imaging for Accurate Surgical Target Pose Tracking
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Solution Overview
Problem
Existing robotic systems face challenges in accurately tracking and correcting the movement of targets during surgical procedures, affecting the precision and safety of robot-assisted surgeries.
Innovation Solution
A multi-arm robotic system with cameras mounted on each arm is used to improve accuracy by obtaining multiple views and angles, allowing for precise positioning and tracking of targets through image processing and coordinate alignment, enabling collision avoidance and enhanced surgical tool guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single robotic arm with a single camera is used to track target pose, then the device complexity is low, but the measurement precision and reliability of target pose tracking are insufficient
Solution Approach 1:
The patent combines multiple robotic arms (first robotic arm and second robotic arm) each equipped with imaging devices to form a unified multi-arm system. This merging of multiple independent tracking units enables cross-validation and complementary viewing angles, significantly improving target pose tracking accuracy and reliability while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The system transitions from single-point tracking to multi-dimensional spatial tracking by deploying imaging devices at different positions and orientations. The first imaging device captures images from a first perspective while the second imaging device captures from a second perspective, creating a multi-dimensional observation space that enhances pose estimation accuracy through geometric triangulation and coordinate transformation.
2Reliability
If multiple robotic arms with imaging devices are deployed to improve tracking accuracy, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The system implements feedback mechanisms where the controller receives pose information from both robotic arms and continuously adjusts their positions and orientations. The controller processes images from both imaging devices, compares the detected target poses, and uses this feedback to refine tracking accuracy, ensuring reliable operation even when one arm encounters obstacles or limited visibility.
Solution Approach 2:
Each robotic arm is designed with multi-functionality, serving both as a positioning tool and as a tracking device. The imaging devices mounted on the robotic arms perform dual functions: capturing target images for pose estimation and providing visual feedback for collision avoidance. This universal design reduces overall system complexity by consolidating multiple functions into single components.
3Productivity
If real-time image processing and coordinate alignment are performed by multiple arms, then the productivity and response time improve, but the computational energy consumption increases
Solution Approach 1:
The system performs preliminary actions by pre-calculating transformation matrices and establishing coordinate relationships between different robotic arms and imaging devices before actual tracking begins. The controller pre-processes calibration data and pre-positions imaging devices at optimal angles, reducing the computational burden during real-time operation and enabling faster response while lowering energy consumption.
Solution Approach 2:
The system replaces complex mechanical coordination between multiple arms with computational coordinate transformations. Instead of mechanically synchronizing multiple imaging devices, the system uses software-based coordinate alignment and image processing to achieve consistent target tracking. This substitution reduces mechanical complexity and energy consumption while maintaining high tracking precision through efficient algorithms.
Data Source
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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.