Robotic EM Field Generator Registration for Coordinate Alignment
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Solution Overview
Problem
Current robotic medical systems require complex and user-intensive registration steps to align electromagnetic (EM) field generators with robotic or global coordinate frames, which can be time-consuming, inaccurate, and limit the flexibility of EM sensor tracking during procedures.
Innovation Solution
Integrating an EM field generator with a robotic arm allows for automatic registration and repositioning, using the arm's kinematics to establish and maintain the alignment between EM and robotic or global coordinate frames, eliminating the need for separate registration steps and enhancing sensor tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex manual registration steps are used to align EM field generator with robotic coordinate frames, then registration accuracy can be achieved, but procedure time increases and user input is required
Solution Approach 1:
The system performs automatic registration by having the robotic arm autonomously move the EM field generator through a sequence of positions while the control system automatically captures sensor data and computes coordinate frame transformations, eliminating the need for manual user input and significantly reducing procedure time while maintaining registration accuracy
Solution Approach 2:
The robotic arm pre-positions the EM field generator at specific locations and orientations required for registration before actual tracking begins, automatically establishing the coordinate frame relationship in advance without requiring manual intervention during the procedure
2Device complexity
If EM field generator is manually positioned and registered, then setup complexity is high, but system flexibility is limited
Solution Approach 1:
The EM field generator is mounted on the robotic arm, transforming it from a static manually-positioned component to a dynamically repositionable element that can be automatically moved to optimal locations throughout the procedure, thereby reducing setup complexity while dramatically increasing system flexibility and adaptability
Solution Approach 2:
The robotic arm serves multiple functions: it performs the registration procedure, positions the EM field generator for optimal tracking, and can be repositioned during the procedure to maintain sensor visibility, eliminating the need for separate manual setup steps and increasing overall system versatility
3Device complexity
If separate registration steps are required for EM field generator, then device complexity increases, but automation level decreases
Solution Approach 1:
The registration function is merged with the robotic arm's positioning capability, so that the same actuator system used for surgical instrument manipulation also performs EM field generator registration, eliminating separate registration hardware and procedures while maximizing automation
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 approach simplifies setup, improves sensor tracking accuracy, and allows for more flexible placement of EM field generators, reducing procedure time and increasing the precision of EM sensor positioning within the robotic system.
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
Implementation Method 2
Because the EM field generator is coupled to the robotic arm, the kinematics of the robotic arm can be used to establish a registration between an EM coordinate frame of the EM field generator and a robotic coordinate frame or a global coordinate frame of the system
Data Source
AI summary
Certain aspects relate to systems with robotically controllable field generators and applications thereof. For example, a robotic medical system may include a first robotic arm that is configured to couple to an electromagnetic (EM) field generator. The first robotic arm be capable of moving the EM field generator. The robotic medical system may also include one or more processors. The processors may determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator. The processors also determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm. The processors determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator. Based on the registration, the processors may determine a position of the EM sensor in the robotic coordinate frame.