Removable Tracking Markers for 3D Surgical Robot Instrument Tracking
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Solution Overview
Problem
Existing position recognition systems for robot-assisted surgeries require rigidly attached tracking sensors and multiple markers to accurately determine the 3-dimensional position of objects, which limits their applicability to moveable objects and increases complexity.
Innovation Solution
A surgical robot system with moveable tracking markers and a camera system to detect these markers, allowing for precise 3-dimensional position determination of end-effectors and instruments, even with fewer markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple tracking markers are rigidly attached to the object, then the positional accuracy is improved, but the system complexity and difficulty of operation increase
Solution Approach 1:
The patent extracts the tracking function from multiple rigidly attached markers and concentrates it into a single removable tracking marker that can be attached to various surgical instruments. This single marker contains sufficient geometric features (circular shape with diameter in specific range) to enable accurate 3D position determination by the camera system, thereby reducing system complexity while maintaining positional accuracy.
Solution Approach 2:
The single removable tracking marker serves multiple functions: it can be attached to different surgical instruments (drills, saws, implants), it provides 3D position tracking, and its circular geometry enables orientation detection. This universal marker replaces the need for multiple instrument-specific tracking systems, simplifying the overall system while maintaining measurement precision.
2Measurement precision
If multiple tracking markers are used, then the 3-dimensional position determination accuracy is improved, but the ease of operation deteriorates
Solution Approach 1:
The tracking marker is designed to be removable and reattachable rather than permanently fixed. This dynamic characteristic allows the marker to be easily transferred between different surgical instruments during the procedure. The simple circular geometry with detectable diameter enables quick identification and tracking by the camera system, maintaining positional accuracy while significantly improving ease of operation.
3Measurement precision
If rigidly attached tracking sensors are used, then the measurement precision is improved, but the adaptability to moveable objects worsens
Solution Approach 1:
The tracking marker is designed as a removable component that can be dynamically attached to and detached from various moveable surgical instruments. This dynamic attachment mechanism allows the marker to adapt to different instruments while maintaining its geometric features for accurate tracking. The marker can be positioned on moveable parts of instruments, enabling tracking of moveable objects without sacrificing measurement precision.
Solution Approach 2:
The universal tracking marker design allows it to be attached to multiple different surgical instruments including drills, saws, and implants. Its circular geometry with detectable diameter provides consistent tracking performance across different instruments and their moveable components, thereby improving adaptability while maintaining measurement precision.
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
Enables accurate and efficient tracking of moveable surgical instruments and implants during robot-assisted surgeries, improving positional precision and reducing the need for multiple markers.
Implementation Method 1
Infrared transmitters transmit a signal, and the reflective spherical balls reflect the signal to aid in determining the position of the object in 3D
Implementation Method 2
In passive sensors or markers, objects to be tracked may include passive sensors, such as reflective spherical balls, which are positioned at strategic locations on the object to be tracked
Data Source
AI summary
Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.