Robotic Surgery Instrument Orientation Detection via Movement Comparison

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Solution Overview

Problem

In robotic surgery, the orientation of adjustable marker devices relative to robotic systems is not clearly defined, which complicates the efficient control of robotic movements to surgical targets.

Innovation Solution

A computer-implemented method that automatically determines the orientation of a medical instrument base relative to a robotic system by comparing movement information from a tracking system with movement data from the robotic system, allowing for precise alignment and positioning.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an external tracking system is used to track surgical instruments, then the marker device can be adjusted to be visible to the tracking system, but the orientation of the marker device relative to the robotic system becomes unclear and difficult to control

Engineering Contradiction:

Improveadjustability of marker device orientationVSAvoidunclear orientation information

Core Design Contradiction:

Adaptability or versatilityVSLoss of information

Solution Approach 1:

The system continuously monitors the actual orientation of the medical instrument base through the tracking system and feeds this information back to the control unit. The control unit compares the actual orientation with the reference orientation and automatically generates correction signals to adjust the instrument's position, ensuring accurate alignment without manual intervention

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The robotic system automatically determines and adjusts the orientation of the medical instrument base without requiring manual selection or external intervention. The system self-calibrates by comparing tracking data with reference data and autonomously corrects any misalignment, making the orientation management fully automated

Inventive Principle:

Principle #25Self-service

2Loss of information

If the marker device is firmly attached to the robot, then the orientation is fixed and clear, but the tracking system cannot individually orient the instrument for optimal visibility

Engineering Contradiction:

Improveclear orientation definitionVSAvoidindividual orientation capability

Core Design Contradiction:

Loss of informationVSAdaptability or versatility

Solution Approach 1:

The system transitions from a static, fixed attachment to a dynamic, adjustable configuration. The medical instrument base can be automatically repositioned and reoriented during surgery to optimize visibility for the tracking system while maintaining a clearly defined reference orientation, combining the benefits of both fixed and adjustable approaches

Inventive Principle:

Principle #15Dynamics

3Loss of information

If the instrument is mounted in a single fixed orientation, then the orientation is clearly defined, but the user cannot manually select different mounting orientations for different surgical needs

Engineering Contradiction:

Improveclear orientation definitionVSAvoidmanual selection capability

Core Design Contradiction:

Loss of informationVSEase of operation

Solution Approach 1:

The system eliminates the need for manual orientation selection by automatically determining the optimal mounting orientation. The control unit autonomously adjusts the medical instrument base to the correct orientation based on surgical targets and tracking system requirements, improving both ease of operation and precision

Inventive Principle:

Principle #25Self-service

4Adaptability or versatility

If multiple fixed orientations are provided and manual selection is required, then different orientations are available, but the process becomes more complex and time-consuming

Engineering Contradiction:

Improvemultiple mounting orientationsVSAvoidmanual selection process

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system uses real-time feedback from the tracking system to automatically determine which orientation is optimal for the current surgical situation. This eliminates the need for complex manual selection processes while maintaining the ability to use multiple orientations, simplifying the user interface and reducing operational complexity

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP3936076B1Method for automatic detection of instrument orientation for robotic surgery

Publication Date: 2025.04.30 BRAINLAB AG

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AI summary

A method for automatic detection of a medical instrument orientation for robotic surgery is presented. In particular, this method determines the orientation of a marker device attached to the medical instrument in relation to the robotic system by comparing movement information. In detail, the method compares the information about a movement of the marker device from a tracking system with the information about a movement of e.g. the robotic arm, which movement data can be acquired by the robotic system. One technical effect of the invention is that the orientation of the medical instrument with respect to the robotic system can be determined automatically and used for subsequent calculations such as e.g. an automatic and efficient precise alignment to a target trajectory or a correct positioning assistance for e.g. a mechatronic arm. Therefore, a computer-implemented medical method of automatically determining an orientation of a medical instrument base in relation to a robotic system is provided,