Robotic Arm Pose Mapping for Surgical Collision Avoidance

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Solution Overview

Problem

Current surgical robotics systems face challenges in accurately controlling robotic arms during surgeries, particularly in maintaining precise positioning and avoiding collisions or obstructing the camera's line of sight.

Innovation Solution

The system comprises a robotic arm, a camera, processors, and memory that determine the robotic arm's pose within a navigation coordinate system, map the robotic arm's coordinate system to the navigation coordinate system, and control the robotic arm based on camera output to ensure accurate positioning and avoid collisions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If the robotic arm is controlled to perform surgical procedures, then surgical precision is improved, but the risk of collision with other robotic arms or obstructing camera line of sight increases

Engineering Contradiction:

Improvesurgical precisionVSAvoidcollision risk and line of sight obstruction

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The system continuously tracks the pose of multiple robotic arms and camera positions in a common navigation coordinate system, using real-time feedback to adjust robotic arm movements and prevent collisions or line of sight obstructions while maintaining surgical precision

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

A common navigation coordinate system serves as an intermediary framework that enables coordinated control of multiple robotic arms and camera systems, allowing the control system to predict and prevent harmful interactions while maintaining precise surgical operations

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If multiple robotic arms are used in the surgical procedure, then surgical capability and precision are improved, but the complexity of coordinating and controlling the robotic arms increases

Engineering Contradiction:

Improvesurgical capabilityVSAvoidcontrol coordination complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The common navigation coordinate system provides a universal framework that can accommodate multiple robotic arms with different functions and configurations, enabling coordinated control through a single standardized interface while maintaining individual arm versatility

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The navigation coordinate system acts as a mediating layer between multiple robotic arm control systems, simplifying coordination by translating individual arm movements into a common reference frame and managing interactions automatically

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS12274513B2Devices, methods, and systems for robot-assisted surgery

Publication Date: 2025.04.15 MAZOR ROBOTICS

AI summary

A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.