Robotic Arm Path Control for Adaptive Intra-Oral Imaging
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Solution Overview
Problem
Existing intra-oral imaging systems require human operator intervention to adjust camera movements, are limited by predefined anatomical parameters, and do not adapt to individual anatomical variations or movements, necessitating complete patient immobilization.
Innovation Solution
A method for controlling a robotic arm with a camera that includes semantic segmentation and reinforcement learning to dynamically recalculate paths in real-time, adapting to individual anatomies and movements, allowing selective reconstruction of predefined oral cavity portions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a predefined path is used for the robotic arm, then the imaging process is automated, but the system cannot adapt to individual anatomical variations or patient movements
Solution Approach 1:
The patent implements dynamic path recalculation by continuously acquiring new images during the imaging process and updating the 3D model in real-time. The robotic arm receives updated movement instructions based on detected anatomical features, allowing the system to adapt to individual anatomical variations and patient movements while maintaining automated operation
Solution Approach 2:
The system uses feedback from continuously acquired images and real-time 3D model updates to adjust the robotic arm's path. The processor detects anatomical features in new images and recalculates the movement path accordingly, creating a closed-loop control system that combines automation with adaptability
2Reliability
If a complete traverse of the oral cavity is performed, then comprehensive imaging is achieved, but the reconstruction duration increases
Solution Approach 1:
The patent implements selective imaging by allowing the practitioner to define specific regions of interest within the oral cavity. The robotic arm traverses only the necessary portions to capture images of the defined regions, achieving comprehensive imaging of target areas while reducing overall reconstruction duration by avoiding unnecessary traversal of unrelated areas
3Device complexity
If the robotic arm follows a fixed path, then the control system is simple, but the system cannot correct reconstruction errors or adapt to anatomical anomalies
Solution Approach 1:
The system continuously monitors the quality and completeness of the 3D reconstruction by analyzing newly acquired images against the current model. When reconstruction errors or gaps are detected, the processor automatically recalculates the robotic arm's path to capture additional images of the problematic areas, enabling error correction without requiring complex manual intervention
Data Source
AI summary
A method for controlling a robotic arm having an intra-oral camera, includes a step of controlling the movement of the robotic arm depending on a determined path portion, and a step of capturing images of the oral cavity by the camera, characterized in that the method further comprises a preliminary step of defining a group of intra-oral tissues to be reconstructed, a preliminary step of determining at least one portion of the path of the robotic arm depending on a starting position of the camera and of the group of tissues to be reconstructed, a step of semantically segmenting each pixel of each captured image so as to determine a group of reconstructed tissues, and after each addition of a tissue to the group of reconstructed tissues, a step of determining a new path portion depending on the group of reconstructed tissues and the group of tissues to be reconstructed.