Surgical Robot Tool Identification Using Checkpoint Position Matching
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Solution Overview
Problem
Surgical robots face challenges in accurately identifying and maintaining the position, orientation, and trajectory of different tools due to limited visibility and human error in tool selection, particularly when multiple visually similar tools are used in procedures like hip replacement.
Innovation Solution
A surgical system that includes a display device, surgical robot, tool with a checkpoint feature, pointer, localizer, and controller, which determines the tool's identity by recognizing the position of the checkpoint feature within a predetermined space, and presents the tool's identity on the display device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual tool identification and input is used, then the surgeon has flexibility in tool selection, but human error increases and identification time is lost
Solution Approach 1:
The system enables automatic tool identification through the surgical robot's sensor system. The robot autonomously detects the tool's presence, determines its identity, and inputs the information to the controller without requiring manual surgeon intervention, thus eliminating human error and saving time
Solution Approach 2:
The manual mechanical process of tool identification and input is replaced with an automated sensor-based system. The surgical robot uses sensors to detect tool characteristics and automatically communicates tool identity to the controller, substituting human manual operations with automated electronic detection and data transmission
2Adaptability or versatility
If multiple visually similar tools are used, then surgical versatility is improved, but tool differentiation and identification become more difficult
Solution Approach 1:
Each tool within the set is equipped with unique local characteristics or markers that differentiate it from other visually similar tools. These localized features enable the sensor system to distinguish between tools based on their specific identities rather than relying on overall visual appearance
Solution Approach 2:
Visual differentiation of tools is replaced with automated sensor detection. The system uses electronic sensors to detect tool characteristics and identify tool identities automatically, eliminating the need for visual inspection and manual differentiation by the surgeon
3Measurement precision
If manual tool input is required, then system complexity is reduced, but surgical precision and alignment maintenance become more difficult
Solution Approach 1:
The surgical robot is designed with multi-functionality, serving both as a positioning device and an automated tool identification system. The same sensor system used for navigation and positioning also detects tool identities, eliminating the need for separate identification hardware and reducing overall system complexity
Solution Approach 2:
The tool identification function is merged with the surgical robot's existing sensor and control systems. Rather than adding a separate identification device, the system combines tool detection and identity recognition into the robot's integrated navigation and control architecture
Data Source
AI summary
Systems and methods to identify a tool coupled to a surgical robot. The tool has an axis and a checkpoint feature. The system includes a pointer and a localizer to determine positions of the pointer. A memory includes identification data associated with a plurality of tools. For each respective tool of the plurality, the identification data includes unique dimensions of a predetermined checkpoint space relative to the axis of the respective tool. The predetermined checkpoint space defines a range of positions in which the checkpoint feature of the respective tool can potentially be located. Controller(s) receive, from the localizer, a position of the checkpoint feature in response to the pointer touching the checkpoint feature. The controller(s) determine an identity of the tool based on recognizing, from the identification data, which predetermined checkpoint space has the range of positions in which the position of the checkpoint feature is located.