Robotic Link Tracking for Surgical Arm Line-of-Sight Accuracy
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Solution Overview
Problem
Conventional surgical robotic systems face challenges with bulky and manually adjustable cart trackers that complicate design, are susceptible to damage, obstruct the operating room, require manual setup and re-registration, and lack dynamic pose adjustment, leading to line-of-sight issues and complexity in draping and sterile maintenance.
Innovation Solution
A surgical robotic system with a base and robotic arm featuring integrated link trackers and end effector trackers, allowing for dynamic pose adjustment and simplified setup, reducing bulkiness and manual intervention, and enhancing tracking accuracy through optical elements on the links and end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a manually-adjustable setup arm with cart tracker is used to track the base, then the navigation system can locate the base, but the system becomes bulky, complex, and requires manual assembly/disassembly
Solution Approach 1:
The patent integrates the cart tracker directly onto the mobile cart, eliminating the need for a separate adjustable setup arm. This merging of components reduces system complexity while maintaining base tracking capability, as the tracker becomes an inherent part of the cart structure rather than an external attachment.
Solution Approach 2:
The patent removes the adjustable setup arm component from the system entirely, extracting only the essential tracking function and integrating it directly into the cart. This elimination of unnecessary components simplifies the overall system design while preserving the core functionality of base location tracking.
2Measurement precision
If a manually-adjustable setup arm with cart tracker is used, then the base can be tracked, but the adjustable arm and cart tracker are susceptible to damage or collisions
Solution Approach 1:
By integrating the cart tracker directly onto the mobile cart as a fixed component, the patent eliminates the vulnerable adjustable setup arm that was prone to collision and damage. The merged design makes the tracker an integral, protected part of the cart structure, improving reliability.
3Measurement precision
If a manually-adjustable setup arm with cart tracker is used, then the base can be tracked, but the adjustable arm and cart tracker are physical obstacles in the operating room and during transport
Solution Approach 1:
The patent removes the adjustable setup arm, which was a bulky physical obstacle, and integrates only the essential tracking functionality directly into the cart. This extraction of unnecessary components reduces the space occupied by the system in the operating room and during transport.
4Measurement precision
If the cart tracker is physically separated from the robotic device, then the base can be tracked, but the navigation system is more susceptible to losing line-of-sight with the cart tracker
Solution Approach 1:
By integrating the cart tracker directly onto the mobile cart, the patent ensures that the tracker moves with the cart and maintains a known, fixed relationship to the robotic base. This eliminates line-of-sight issues that arise from the tracker being physically separated, as the integrated design guarantees continuous tracking capability.
5Measurement precision
If the cart tracker is in a unique pose after manual setup, then the base can be tracked from that position, but a separate intraoperative calibration is required
Solution Approach 1:
The patent integrates the cart tracker in a fixed, pre-determined position on the mobile cart, eliminating the need for manual pose adjustment and intraoperative calibration. The tracker is already in its correct position before surgery begins, reducing setup time and eliminating calibration steps.
6Measurement precision
If the adjustable arm and cart tracker are used, then the base can be tracked, but they add complexity to the draping and maintaining of sterile field
Solution Approach 1:
The patent removes the adjustable setup arm and its associated articulation mechanisms, leaving only the essential cart tracker integrated onto the mobile cart. This simplification reduces the complexity of draping and maintaining the sterile field, as there are fewer components and articulation points that require special handling.
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
The integrated link and end effector trackers provide improved tracking accuracy, reduce setup complexity, and maintain line-of-sight, enhancing surgical robotic system efficiency and sterility by minimizing manual adjustments and obstructions.
Implementation Method 1
a photosensor assembly located on the link surface of at least one link of the plurality of links
Data Source
AI summary
Systems and methods for tracking or monitoring a robotic system. The robotic system has a base and a robotic arm coupled to the base. The robotic arm has a plurality of links and joints, a link tracker including a plurality of tracking elements located on a surface of at least one link, and a mounting interface. An end effector is configured to attach to the mounting interface and includes a surgical tool and an end effector tracker with at least one tracking element. A tracking system includes a localizer to detect the link tracker and the end effector tracker. The tracking system includes a controller to combine signals from the plurality of tracking elements of the link tracker and the at least one tracking element of the end effector tracker to establish a combined tracking geometry. The controller utilizes the combined tracking geometry to track or monitor the robotic system.