Robotic Sensor Verification Using Drive and Articulation 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 or non-medical procedures, which can lead to improper alignment and unstable control loops.
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 test profile matches a reference profile, allowing for corrective actions if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor verification and calibration procedures are implemented, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent implements sensor verification and calibration procedures before the robotic system performs medical procedures. The verification system checks sensor functionality and calibrates articulation sensors by comparing measured values against expected values, ensuring proper alignment and stable control loops prior to operation. This preliminary action prevents operational failures while maintaining a relatively simple system architecture.
2Manufacturing precision
If sensor calibration procedures are performed, then manufacturing precision is improved, but loss of time increases
Solution Approach 1:
The calibration procedure is performed as a preliminary step before clinical use, establishing proper sensor alignment and calibration values in advance. This ensures high manufacturing precision for sensor positioning while containing the time investment to a one-time setup procedure rather than requiring repeated calibration during operations.
Solution Approach 2:
The verification system uses feedback mechanisms to compare actual sensor readings against expected values during calibration. This feedback loop enables precise calibration by identifying and correcting deviations, ensuring accurate sensor alignment while streamlining the calibration process through automated comparison and adjustment guidance.
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.