Robotic Arm Time-Spaced Reference Frames for Surgical Navigation
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Solution Overview
Problem
Existing navigated robotic systems face challenges with large reference frames that obstruct the operation field, are cumbersome, and are less stable, leading to inaccuracies in coordinate system alignment during surgical procedures.
Innovation Solution
A robotic arm creates a time-spaced reference frame by moving to multiple poses, allowing a tracking marker sensor to capture these poses in navigation space, forming a 'giant' reference frame that accurately aligns robotic and navigation coordinate systems without the need for a physical, obstructive frame.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large physical reference frame is used to align coordinate systems, then alignment accuracy is improved, but the reference frame obstructs the operation field and becomes cumbersome
Solution Approach 1:
The patent creates a virtual reference frame by capturing images of a tracking marker at multiple known poses of the robotic arm. Instead of using a large physical reference frame, the system creates a digital representation (copy) of the reference frame through image processing and coordinate transformation, which eliminates physical obstruction while maintaining alignment accuracy
Solution Approach 2:
The patent transitions from a spatial reference frame (physical object in 3D space) to a temporal reference frame (sequence of images captured at different times). By moving the robotic arm to multiple poses and capturing images at each pose, the system creates a time-spaced reference frame that provides the same alignment function without physical bulk
2Measurement precision
If a large physical reference frame is used, then coordinate system alignment is improved, but stability decreases
Solution Approach 1:
The virtual reference frame created through image capture is inherently more stable than a physical reference frame. The digital representation does not suffer from physical instability issues such as movement, deformation, or obstruction, while maintaining the precision needed for coordinate alignment through mathematical transformation of multiple captured poses
3Measurement precision
If a physical reference frame is used, then alignment function is achieved, but device complexity increases
Solution Approach 1:
The system replaces a complex physical reference frame structure with a simple tracking marker and image capture process. The virtual reference frame is created through software processing of captured images, eliminating the need for complex physical construction while achieving the same alignment function through coordinate transformation algorithms
Solution Approach 2:
The patent replaces the mechanical reference frame system with an optical and computational system. Instead of using physical structures to define coordinate relationships, the system uses light (image capture) and mathematical transformation to achieve coordinate system alignment, reducing mechanical complexity
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
This method enhances accuracy and stability in robotic navigation by creating a time-spaced reference frame that aligns robotic and navigation systems efficiently, reducing the risk of surgical errors and improving patient safety.
Implementation Method 1
The tracking marker may be a first tracking marker configured to emit light in pulses at a first frequency, and the robotic arm may comprise a second tracking member configured to emit light in pulses at a second frequency that is different than the first frequency
Implementation Method 2
Each tracking marker may be configured to emit or reflect light through a covering
Data Source
AI summary
A robotic navigation system includes a robot base; a robotic arm comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm to move to a plurality of different poses; receive information relating to a position of the tracking marker in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.