Robotic EM Field Generator Alignment for Medical Instrument Tracking
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Solution Overview
Problem
Existing robotic medical systems require complex registration steps to align the electromagnetic (EM) field generator's coordinate frame with the robotic or global coordinate frame, which can be time-consuming and prone to inaccuracies.
Innovation Solution
A robotically controllable EM field generator is integrated into a robotic arm, allowing the kinematics of the arm to automatically establish a registration between the EM field generator's coordinate frame and the robotic or global coordinate frame, eliminating the need for manual registration steps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual registration steps are used to align the EM field generator's coordinate frame with the robotic coordinate frame, then the system can establish coordinate relationship, but the process becomes time-consuming and prone to inaccuracies
Solution Approach 1:
The patent combines the EM field generator with the robotic arm into a single integrated unit. The EM field generator is mounted on the robotic arm's manipulator assembly, allowing the robotic system to automatically manage both the robotic movements and the EM field positioning through a single coordinate system, eliminating manual registration between separate systems
Solution Approach 2:
The robotic system performs self-registration by using its own kinematic model to automatically establish the coordinate relationship. The system uses the robotic arm's known kinematics to calculate the transformation between the robotic coordinate frame and the EM coordinate frame without requiring external manual intervention or separate calibration procedures
2Ease of manufacture
If the EM field generator is positioned separately from the robotic arm, then setup is simpler, but the system requires complex registration steps to establish coordinate relationships
Solution Approach 1:
The EM field generator is physically integrated with the robotic arm's manipulator assembly. This merging eliminates the need for complex registration between separate systems because the EM field generator's position and orientation are directly determined by the robotic arm's kinematic state, simplifying both setup and operation
3Reliability
If manual registration is performed to establish coordinate frame alignment, then the relationship can be established, but inaccuracies may occur due to user input requirements
Solution Approach 1:
The system eliminates manual registration operations by using the robotic arm's own kinematic model to automatically establish and maintain the coordinate relationship. The robotic controller continuously calculates the EM field generator's position based on the robotic arm's joint positions, removing all manual intervention and associated inaccuracies
Solution Approach 2:
The system uses continuous feedback from the robotic arm's position sensors and kinematic model to automatically update the EM field generator's coordinate transformation. This closed-loop approach ensures the coordinate relationship remains accurate throughout the procedure without manual re-registration
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 solution simplifies the setup process, improves the accuracy of EM sensor position determination, and allows for dynamic adjustment of the EM field generator's position during procedures, enhancing the overall precision and efficiency of robotic medical systems.
Implementation Method 1
The EM field generator can produce a magnetic field within which the positions of one or more EM sensors can be determined
Data Source
AI summary
Certain aspects relate to systems with robotically controllable field generators and applications thereof. A robotic medical system may include a robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, and the first robotic arm may be configured to move the EM field generator. The medical system may also include a medical instrument configured for insertion into a patient. The medical instrument may comprise an EM sensor and one or more processors. The processors may: determine a position of the EM sensor within the EM field; and adjust a position of the EM field generator by commanding movement of the first robotic arm based on the determined position of the EM sensor.