Robotic Base Position Tracking for Surgical Arm Collision Avoidance
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Solution Overview
Problem
Determining the relative positioning of robotic arms and other components in surgical robotic systems is challenging when they are mounted on discrete bases that can be independently moved, as existing methods struggle with occlusions and lack comprehensive visibility.
Innovation Solution
A system using computer vision with optical tracking and emitters to determine the relative positions of robotic arms and other components, even when not all components are visible to a single camera, by employing multiple cameras and emitter sets with unique blink sequences and colors, and utilizing triangulation and kinematic data for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple cameras are used to determine relative positions of robotic arms on discrete bases, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system divides the monitoring task into multiple camera units, each responsible for capturing images of specific robotic arms or regions. This segmentation allows comprehensive coverage of all discrete bases while distributing the complexity across multiple independent camera modules rather than requiring a single complex system.
Solution Approach 2:
Each camera unit is designed to perform multiple functions: capturing images of robotic arms, detecting emitters for positioning, and providing visual feedback for collision avoidance. This multi-functionality reduces the need for separate specialized devices, thereby managing overall system complexity while maintaining high measurement precision.
2Object-affected harmful factors
If emitters with unique blink sequences and colors are used on robotic arms, then object-generated harmful factors are reduced, but device complexity increases
Solution Approach 1:
Different emitters are assigned unique colors and blink sequences that are visually distinguishable by the camera system. This allows the system to differentiate between multiple robotic arms and their respective emitters even when they are in close proximity or partially occluded, eliminating positioning errors without requiring complex physical modifications to the robotic arms themselves.
Solution Approach 2:
Emitters use periodic blink sequences at different frequencies or patterns to encode their identity. This temporal modulation allows the camera system to distinguish between multiple emitters based on their unique blinking patterns, resolving occlusion issues while keeping the emitter hardware relatively simple.
3Measurement precision
If computer vision with optical tracking is used to determine relative positions, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The system performs preliminary calibration by establishing the relative positions of all camera units and emitters before surgical procedures begin. This pre-established spatial framework allows for rapid real-time tracking during surgery without requiring intensive computational processing during critical operations, thus maintaining high precision while minimizing time loss.
Solution Approach 2:
The system replaces complex mechanical positioning systems with optical tracking using cameras and emitters. This substitution eliminates the need for physical measurement devices and manual positioning calculations, enabling fast, automated, and highly precise position determination through optical field measurements instead of mechanical operations.
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
Enables accurate determination of relative positions and collision avoidance in surgical robotic systems with independently movable components, enhancing coordinated motion and safety by minimizing occlusion-related positioning errors.
Implementation Method 1
A processor of the optical tracking system may then calculate a direct relative distance between the two robotic arms, as well as calculate a relative distance or position/pose of their respective bases
Data Source
AI summary
A system and method fort determining the relative positions of robotic manipulators makes use of a camera positioned in an operating room so as to capture images or portions of first and second robotic manipulators that are positioned outside a patient body cavity. The camera captures images of first and second robotic manipulators, the images are analyzed in real time to determine a relative distance between the first robotic manipulator and the second robotic manipulator. The system determines whether the relative distance is below a predetermined threshold, and, if it is, initiates a collision avoidance measure.