Time-Spaced Robotic Reference Frames for Unobstructed Navigation
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Solution Overview
Problem
Navigated robotic procedures face challenges with large reference frames that obstruct the operation field, are cumbersome, and are less stable, necessitating a more accurate and unobstructive method for correlating robotic and navigation spaces.
Innovation Solution
A time-spaced robotic reference frame is created by moving a robotic arm to multiple poses, pausing for a tracking marker sensor to capture each pose, allowing the creation of a 'giant' reference frame without a physical obstruction, using tracking markers like LEDs or reflective spheres.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large physical reference frame is used to correlate robotic and navigation spaces, then measurement precision is improved, but the reference frame obstructs the operation field and is cumbersome
Solution Approach 1:
The patent creates a virtual reference frame by capturing images of the robotic arm at multiple poses and generating reference frame points through image processing. This virtual copy replaces the need for a large physical reference frame, achieving accurate spatial correlation without obstructing the surgical field. The virtual reference frame is constructed by detecting the robotic arm's position in multiple images and calculating corresponding reference points in the navigation coordinate system.
Solution Approach 2:
The patent replaces the mechanical physical reference frame with an optical/image-based system. Instead of using a large physical structure to define the reference frame, the system uses images captured by a tracking marker sensor to determine the robotic arm's position and construct a virtual reference frame in the navigation coordinate system, eliminating the need for bulky mechanical reference structures.
2Measurement precision
If a large physical reference frame is used, then measurement precision is improved, but stability deteriorates due to being cumbersome
Solution Approach 1:
The virtual reference frame created through image processing is inherently more stable than a physical reference frame. The reference frame points are calculated from multiple images captured at different poses, providing redundant measurements that improve stability. The virtual structure does not suffer from the mechanical instability and bulkiness that plagues large physical reference frames.
3Measurement precision
If a time-spaced robotic reference frame is created by moving the robotic arm to multiple poses, then measurement precision is improved, but loss of time increases due to multiple pausing steps
Solution Approach 1:
The system captures multiple images of the robotic arm at different poses during the normal surgical procedure setup phase, before actual navigation is required. This preliminary capture of positional data allows the virtual reference frame to be constructed in advance, so that when navigation begins, the spatial correlation is already established without requiring additional time-consuming maneuvers.
Solution Approach 2:
The image capture process is integrated into the normal robotic arm positioning actions that would occur anyway during surgical setup. The robotic arm moves to various poses as part of its normal operation, and these movements are continuously captured by the tracking marker sensor. This converts what would be idle positioning movements into useful data collection for reference frame construction, eliminating wasted time.
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 method enhances accuracy and stability by correlating robotic and navigation spaces without physical obstructions, ensuring precise alignment during surgical procedures.
Implementation Method 1
tracking markers like LEDs or reflective spheres
Implementation Method 2
tracking markers like LEDs or reflective spheres
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
A robotic navigation system includes a robot base (140); a robotic arm (144) comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker (156) secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm (144) to move to a plurality of different poses; receive information relating to a position of the tracking marker (156) in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.