Robot Arm Tracking Device with Control Marker
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Solution Overview
Problem
In medical environments, particularly during minimally invasive surgery, existing navigation systems require significant effort to track the position of a target object like a patient with high reliability, often necessitating additional equipment and separate tracking devices, which can lead to incompatibilities and increased complexity.
Innovation Solution
A robotic system with a movable arm, a tracking device secured to the arm, and a control marker in a constant spatial relationship, allowing for integrated tracking without external navigation systems, thereby reducing the need for additional devices and effort, and enhancing reliability by continuously measuring and comparing positional relationships.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a separate navigation system with external tracking devices is used, then tracking capability is provided, but device complexity and spatial requirements increase
Solution Approach 1:
The patent combines the tracking device with the robot arm into an integrated system. The tracking device is secured to the robot arm, merging two previously separate components (navigation system and robotic arm) into a unified structure. This integration eliminates the need for separate external tracking devices and reduces overall system complexity while maintaining tracking reliability.
2Reliability
If multiple separate tracking devices are arranged in the operating room, then tracking coverage is improved, but space requirements and operational complexity increase
Solution Approach 1:
The tracking functionality is merged into the robot arm structure itself, eliminating the need for multiple separate tracking devices distributed throughout the operating room. The integrated tracking device on the robot arm provides sufficient tracking coverage without occupying additional space in the surgical field.
3Device complexity
If the tracking device is integrated with the robot arm, then device complexity is reduced, but measurement precision of spatial relationships may be affected
Solution Approach 1:
The system continuously measures the spatial positional relationship between the tracking device and the robot arm, and this information is fed back to the control system. The control system uses this feedback to maintain accurate tracking and compensate for any potential precision losses due to integration, ensuring that measurement precision is preserved despite the reduced complexity.
Data Source
AI summary
The disclosure relates to a system for tracking the position of a target object. A marker arranged on the target object and an additional control marker are tracked by a tracking device secured to the robot arm. The control marker is arranged in a known specified three-dimensional positional relationship with the tracking device. During the tracking of the position of the target object, the specified three-dimensional positional relationship between the tracking device and the control marker is measured. In the event of a difference between the measured and the real specified three-dimensional positional relationship, a corresponding signal is generated depending on the difference.