Robotic Arm Alignment Using Fiducial Markers for Surgical Docking

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Solution Overview

Problem

The manual docking of robotic arms with ports in surgical procedures is time-consuming and challenging due to limited visibility and range of motion, often requiring sub-optimal port locations and increased reliance on healthcare providers.

Innovation Solution

A system comprising a robotic arm with sensors, such as image sensors, that automatically aligns the robotic arm's tool path axis with the port's insertion axis by detecting fiducials, allowing for precise alignment and partial automation of the docking process.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If manual docking is used, then healthcare providers can control the robotic arm, but the process is time-consuming and requires sub-optimal port locations

Engineering Contradiction:

Improvedocking speedVSAvoidtime for docking

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The patent replaces manual mechanical docking operations with an automated optical system. Image sensors capture fiducial markers on the port, and a computing device calculates the transformation matrix to automatically position the robotic arm, substituting human manual control with automated vision-based positioning.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system enables self-alignment through automated detection of fiducial markers and automatic calculation of positioning parameters. The robotic arm autonomously docks itself by processing visual information from sensors without requiring continuous manual intervention from healthcare providers.

Inventive Principle:

Principle #25Self-service

2Measurement precision

If manual alignment is used, then providers can adjust the robotic arm, but visibility is limited and precision is reduced

Engineering Contradiction:

Improvealignment precisionVSAvoidvisibility of port

Core Design Contradiction:

Measurement precisionVSDifficulty of detecting and measuring

Solution Approach 1:

The patent introduces fiducial markers as intermediary objects that enhance visibility. These high-contrast markers are placed on the port and detected by image sensors, serving as intermediaries that make the port easily visible and measurable even in limited visibility conditions, enabling precise alignment.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system utilizes high-contrast color fiducial markers that stand out against the surgical field. The distinct colors and patterns of these markers enable reliable detection by image sensors, improving visibility and measurement precision during the docking process.

Inventive Principle:

Principle #32Color changes

3Extent of automation

If manual docking is performed, then flexibility in adjustment is maintained, but the process requires increased reliance on healthcare providers

Engineering Contradiction:

Improveautomation of dockingVSAvoidease of docking

Core Design Contradiction:

Extent of automationVSEase of operation

Solution Approach 1:

The patent replaces manual mechanical adjustment operations with automated vision-based positioning. Image sensors and computing devices automatically calculate the transformation matrix and control the robotic arm's movement, reducing reliance on healthcare providers while maintaining operational flexibility through programmable control.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Manufacturing precision

If sub-optimal port locations are used, then docking can be performed, but precision and efficiency are reduced

Engineering Contradiction:

Improvedocking precisionVSAvoidport location flexibility

Core Design Contradiction:

Manufacturing precisionVSAdaptability or versatility

Solution Approach 1:

The fiducial markers serve as intermediaries that enable precise detection and positioning regardless of the specific port location. By detecting these markers through image sensors, the system can achieve high docking precision at various port locations, making the system adaptable to different surgical configurations while maintaining accuracy.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS20250091219A1Systems and methods for robotic arm alignment and docking

Publication Date: 2025.03.20 AURIS HEALTH INC

AI summary

Certain aspects relate to systems and techniques for preparing a robotic system for surgery. In one aspect, the method includes a robotic arm, a sensor configured to generate information indicative of a location of the robotic arm, a processor, and at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions. The instructions are configured to cause the processor to receive the information from the sensor, determine that the robotic arm is located at a first position in which a first axis associated with the robotic arm is not in alignment with a second axis associated with a port installed in a patient, and provide a command to move the robotic arm to a second position in which the first axis associated with the robotic arm is in alignment with the second axis.