Radio Localization of Surgical Robot Arm Carts for 3D Collision Avoidance
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Solution Overview
Problem
Surgical robotic systems face challenges in accurately locating and tracking modular arm carts in three-dimensional space, which can lead to difficulties in optimizing their placement during surgical procedures and potentially result in collisions with other robotic arms or equipment.
Innovation Solution
A radio-based localization system using transmitters and receivers, including RF, microwave, or millimeter-wave technology, to determine the spatial pose of modular arm carts and robotic arms, allowing for precise positioning based on signals communicated by these transmitters, and predicting potential collisions to prevent them.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional tracking methods are used for modular arm carts, then the system structure remains simple, but the location accuracy and spatial awareness deteriorate
Solution Approach 1:
The patent replaces traditional mechanical or optical tracking systems with a radio-based localization system. Transmitters mounted on modular arm carts communicate with receivers in the robotic system, using radio signal processing to determine spatial positions. This substitution achieves higher location accuracy while maintaining reasonable system complexity through wireless communication technology.
Solution Approach 2:
The patent introduces radio transmitters and receivers as intermediary components between the modular arm carts and the robotic system. These intermediaries enable indirect measurement of position through signal transmission and reception, allowing accurate location tracking without direct mechanical or visual contact, thus improving measurement precision while keeping the overall system architecture manageable.
2Reliability
If real-time tracking of modular arm carts is implemented, then collision risk is reduced, but the use of energy and computational resources increases
Solution Approach 1:
The radio-based localization system operates by periodically transmitting and receiving signals to update the positions of modular arm carts. This periodic operation allows the system to maintain real-time spatial awareness and prevent collisions while managing energy consumption through controlled transmission intervals, rather than continuous operation.
Solution Approach 2:
The system implements feedback mechanisms where receivers continuously monitor radio signals from transmitters on modular arm carts, process the spatial information, and provide feedback for position adjustment. This feedback loop enables collision prevention through real-time awareness while optimizing energy usage by activating transmissions only when position updates are needed.
3Ease of operation
If radio-based localization system is deployed, then spatial awareness and positioning accuracy improve, but the device complexity and initial cost increase
Solution Approach 1:
The radio transmitters and receivers are designed with multi-functionality, serving both localization purposes and potentially other communication functions within the robotic system. This universality reduces the need for separate dedicated components, thereby improving spatial awareness capabilities while limiting the increase in overall device complexity.
Solution Approach 2:
The system utilizes parameter changes in radio signal characteristics (such as frequency, phase, or time of flight) to encode spatial position information. By extracting position data from these signal parameters, the system achieves improved spatial awareness and positioning accuracy without requiring complex mechanical or optical measurement devices, thus managing device complexity effectively.
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 placement of robotic arms, reducing the risk of collisions and improving surgical workflow by providing real-time spatial awareness of robotic arms and other equipment within the operating room.
Implementation Method 1
A position and tracking system for radio-based localization in an operating room includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile carts include a transmitter in operable communication with the receiver
Implementation Method 2
receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter
Data Source
AI summary
A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.