Robotic EM Field Generator Tracking Without Manual Registration
Find Innovative SolutionsGenerate Solutions
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 an integrated unit, merging two previously separate systems. This integration allows the coordinate frames to be inherently aligned through the mechanical coupling, eliminating the need for separate manual registration steps and reducing both time and potential inaccuracies.
Solution Approach 2:
The integrated system performs self-registration through the kinematic relationship between the robotic arm and the EM field generator. The system automatically establishes the coordinate transformation based on the known mechanical structure, without requiring external manual intervention or complex calibration procedures.
2Ease of operation
If the EM field generator is integrated into the robotic arm, then manual registration steps are eliminated and accuracy is improved, but the system complexity increases
Solution Approach 1:
The robotic arm is designed to serve multiple functions: it performs surgical manipulation tasks while simultaneously serving as a mounting platform and positioning mechanism for the EM field generator. This multi-functionality reduces the need for separate dedicated components and simplifies the overall system architecture despite the integrated design.
3Adaptability or versatility
If the EM field generator is fixed in position, then the coordinate registration is stable, but real-time adjustment during procedures is not possible
Solution Approach 1:
The system transitions from a static, fixed-position EM field generator to a dynamic configuration where the generator's position can be adjusted in real-time through robotic arm movement. The kinematic model continuously updates the coordinate transformation based on the current arm position, maintaining stability despite the dynamic reconfigurability.
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 real-time adjustment of the EM field generator's position during procedures, enhancing the precision and efficiency of robotic medical operations.
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.