Robotic EM Field Generator Registration for Distortion Detection
Find Innovative SolutionsGenerate Solutions
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 EM field generators with robotic arms allows for automatic registration based on the arm's kinematics, enabling the EM field generator to be robotically controlled and repositioned, eliminating the need for separate registration steps and improving sensor tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex registration steps are used to align EM field generators with robotic coordinate frames, then alignment accuracy can be improved, but the setup process becomes time-consuming and user-intensive
Solution Approach 1:
The system performs automatic registration where the robotic arm itself serves as the reference frame. The EM field generator is coupled to the robotic arm, and the system automatically determines positions of EM sensors by combining EM field data with robotic arm kinematics, eliminating the need for manual user input in the registration process
Solution Approach 2:
The robotic arm serves multiple functions: it performs medical procedures and simultaneously provides the coordinate frame reference for EM sensor tracking. This multi-functionality eliminates the need for separate registration equipment or procedures, as the robotic arm's kinematic model provides the universal reference for both procedure execution and sensor positioning
2Reliability
If fixed EM field generators are used, then registration can be established, but the system lacks flexibility for repositioning during procedures
Solution Approach 1:
The EM field generator is coupled to the robotic arm, making it dynamically repositionable along with the arm. This dynamic configuration allows the system to maintain reliable registration throughout the procedure while providing flexibility to reposition the EM field generator and robotic arm as needed, eliminating the trade-off between stability and flexibility
3Measurement precision
If manual registration procedures are used, then coordinate frame alignment can be achieved, but operator skill and input are required
Solution Approach 1:
The system performs automatic registration by utilizing the robotic arm's kinematic model and EM field measurements. The system self-determines the coordinate frame alignment without requiring operator skill or manual input, achieving both high precision and ease of operation through automated computation and calibration
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 the setup process, enhances the accuracy of EM sensor positioning, allows for smaller and more compact EM field generators, and facilitates automatic instrument tracking and anatomical mapping by enabling the EM field generator to be moved with the robotic arm, improving procedural efficiency and accuracy.
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. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold.