Robot Arm Camera Control Using Inertial Surgical Instrument Tracking
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Solution Overview
Problem
Existing surgical instruments require complex optical or electromagnetic tracking, necessitating a constant line of sight and are susceptible to interference, disrupting the surgical workflow when adjustments are needed.
Innovation Solution
A control arrangement using inertial sensors, such as MEMS sensors, to precisely control a robot arm's movement, allowing seamless integration with surgical instruments, enabling intuitive control without interrupting the surgical workflow.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking or electromagnetic tracking is used to track surgical instruments, then the position of the instrument can be determined, but the system becomes very complex and requires constant line of sight or is susceptible to interference
Solution Approach 1:
The patent replaces complex optical tracking systems or electromagnetic tracking systems with a simple inertial sensor (accelerometer) integrated into the surgical instrument. This mechanical substitution uses the accelerometer to directly measure instrument acceleration and derive position information through integration, eliminating the need for external tracking cameras, markers, or electromagnetic field infrastructure, thereby dramatically reducing system complexity while maintaining position determination capability
Solution Approach 2:
The surgical instrument becomes self-sufficient for position tracking by integrating an inertial sensor directly into its structure. The accelerometer within the instrument autonomously measures its own acceleration without requiring external tracking infrastructure, line of sight, or electromagnetic fields. This self-service approach allows the instrument to independently determine its position and orientation changes, eliminating dependency on complex external tracking systems
2Measurement precision
If the camera viewing angle needs to be adjusted to achieve exact positioning, then the positioning accuracy is improved, but the surgical workflow is interrupted and time is lost
Solution Approach 1:
The patent enables continuous surgical workflow by allowing the surgeon to control the robot arm's camera or surgical tool positioning directly through instrument manipulation without interruption. The accelerometer continuously tracks instrument movement, and the control system continuously adjusts the robot arm positioning in real-time based on accelerometer data, maintaining uninterrupted surgical action while achieving precise positioning
Solution Approach 2:
The system implements real-time feedback control where the accelerometer continuously monitors instrument position and orientation, and this information is immediately fed back to the control system to adjust the robot arm's positioning. This closed-loop feedback mechanism ensures the camera or surgical tool maintains the optimal viewing or working angle continuously during the procedure, eliminating the need for manual interruptions to adjust positioning
3Productivity
If the surgeon works with less-than-ideal viewing angles for convenience, then the workflow is maintained, but the image quality becomes blurry and positioning is less accurate
Solution Approach 1:
The patent replaces manual judgment and adjustment of viewing angles with automated inertial sensor-based control. The accelerometer objectively measures the actual instrument angle and position, and the control system automatically adjusts the robot arm to achieve the optimal viewing angle defined by the surgeon's instrument manipulation, eliminating reliance on the surgeon's subjective assessment and maintaining both workflow continuity and positioning accuracy
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 precise positioning and adjustment of surgical instruments and cameras without disrupting the surgical workflow, ensuring clear images and efficient surgical operations.
Implementation Method 1
a surgical instrument 5 with an inertial sensor 6a
Data Source
Figure 1
AI summary
The present invention provides a treatment device. The control arrangement according to the invention is designed to control the movement of a robot arm (2) within a predetermined working range of the robot arm (2). According to the invention, the control arrangement (1) comprises at least: - a surgical instrument (5) with an inertial sensor (6a), - a robot arm (2) with a camera unit (9) arranged at a distal end of the robot arm (2), - a release unit (7) which is operationally coupled to the inertial sensor and detects a movement of the surgical instrument based on the initial sensor signals, wherein, depending on a detected movement of the surgical instrument, a control movement of the robot arm (2), which is coupled to a control unit (12) for control purposes, can be triggered or terminated.