Relative Robot Base Positioning Using Externally Positioned Imagers

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Solution Overview

Problem

Determining the relative positioning of subsystem components in surgical robotic systems is challenging, especially when components are not visible by a single camera due to occlusions or independent movement of robotic arms and patient beds.

Innovation Solution

A system and method using computer vision and optical tracking to determine the relative positions of subsystem components, including robotic arms, surgeon consoles, and patient beds, by employing multiple cameras and light emitters with unique identification patterns, allowing for triangulation and coordinate system transformations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple independently movable robotic arms and patient beds are used in surgical robotic systems, then system versatility and adaptability are improved, but determining relative positioning between components becomes more difficult

Engineering Contradiction:

Improvesystem versatilityVSAvoidrelative positioning determination

Core Design Contradiction:

Adaptability or versatilityVSDifficulty of detecting and measuring

Solution Approach 1:

The patent introduces light emitters as intermediary elements attached to each robotic arm and patient bed. These emitters serve as mediators that enable the camera system to detect and determine the relative positions of independently movable components through optical tracking, resolving the positioning difficulty caused by component independence and movement.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces traditional mechanical positioning systems with an optical tracking system. Instead of using mechanical linkages or encoders to track positions, the system uses cameras to capture images of light emitters and computationally determines relative positions, enabling accurate tracking of independently movable components without mechanical constraints.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Device complexity

If a single camera is used to determine relative positions of all subsystem components, then device complexity is reduced, but measurement accuracy deteriorates when components are occluded or not visible

Engineering Contradiction:

Improvecamera system complexityVSAvoidrelative position measurement accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent divides the camera system into multiple camera units, each responsible for tracking specific components or regions. This segmentation allows the system to maintain measurement precision across the entire surgical field by distributing the tracking workload across multiple cameras, with each camera focusing on visible components in its field of view.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from a single-camera 2D tracking system to a multi-camera 3D tracking system. By adding spatial dimensions through multiple camera viewpoints, the system can determine relative positions even when components are occluded from any single camera's view, using triangulation and coordinate transformations to achieve accurate 3D positioning.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of operation

If robotic arms are allowed to move independently across the operating room floor, then ease of operation and setup are improved, but reliability of maintaining coordinated positions deteriorates

Engineering Contradiction:

Improvearm positioning easeVSAvoidcoordinated motion reliability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent implements a feedback system where cameras continuously track the positions of light emitters on robotic arms and patient beds. This real-time positional feedback is fed back to the control system, which uses coordinate transformations to calculate relative positions and adjust arm movements accordingly, ensuring coordinated motion despite independent physical movement capability.

Inventive Principle:

Principle #23Feedback

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 determination of relative positions of subsystem components even in occluded environments, facilitating coordinated motion, automatic movements, and collision avoidance in surgical robotic systems.

Implementation Method 1

employing multiple cameras and light emitters with unique identification patterns, allowing for triangulation and coordinate system transformations

Methodology Applied

Scientific EffectLight emission: Light

Data Source

PatentUS20250152269A1Determining relative robot base positions using externally positioned imagers

Publication Date: 2025.05.15 KARL STORZ SE & CO KG

AI summary

A system for determining relative positions of subsystems of a robot-assisted surgical system includes a subsystem component including a plurality of manipulator arms and a surgeon console. Each subsystem component includes at least one of an optical tracker and a light emitter. Image data from the optical trackers is analyzed to determine the relative positions of the subsystems.