Robotic Instrument Sensor Calibration Using Articulation Test Profiles
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Solution Overview
Problem
Existing robotic systems lack reliable mechanisms for verifying the operation and calibrating sensors before performing minimally invasive medical procedures, which can lead to inaccurate instrument positioning and control issues.
Innovation Solution
A robotic system with an instrument carriage and tracking system that generates and compares drive sensor data with articulation sensor data to determine if the system is operating correctly, allowing for corrective actions if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor verification and calibration procedures are implemented in robotic systems, then measurement precision and reliability are improved, but device complexity and procedure time increase
Solution Approach 1:
The patent implements sensor verification and calibration procedures before the robotic system performs medical procedures. The system executes test profiles that command articulation movements and compare drive sensor data with articulation sensor data to verify sensor accuracy prior to use, ensuring measurement precision is established in advance.
Solution Approach 2:
The robotic system performs self-verification and self-calibration through automated test profiles. The control system automatically commands articulation movements, collects sensor data from both drive sensors and articulation sensors, compares the data sets, and determines whether calibration is needed without requiring external intervention, thereby managing complexity through automation.
2Reliability
If sensor verification and calibration procedures are implemented in robotic systems, then reliability is improved, but procedure time increases
Solution Approach 1:
The system performs verification and calibration procedures before clinical use to ensure reliability. By completing these procedures in advance, the system ensures operational reliability is established prior to patient procedures, preventing potential errors during actual medical operations.
Solution Approach 2:
The patent utilizes test profiles that vary articulation parameters and command movements through different ranges of motion. By changing operational parameters during testing, the system efficiently verifies sensor accuracy across multiple conditions in a single calibration sequence, reducing overall procedure time while maintaining comprehensive reliability verification.
3Measurement precision
If detailed test profiles with multiple articulation movements are used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The verification process is divided into multiple test profiles, each containing specific articulation movements. By segmenting the overall verification procedure into discrete test cases, the system can systematically verify sensor accuracy for different degrees of freedom and movement types, improving measurement precision through comprehensive testing while managing complexity through structured organization.
Solution Approach 2:
The test profile structure serves multiple functions: it commands articulation movements, collects sensor data, compares drive sensor data with articulation sensor data, and determines calibration needs. This multi-functional approach consolidates what could be separate complex procedures into a unified verification process, improving measurement precision without proportionally increasing device complexity.
Data Source
AI summary
Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.