Robotic Tool Registration for Intuitive Master-Tool Alignment
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Solution Overview
Problem
In robotic systems, especially in medical telesurgical systems, ambiguity arises in establishing correspondences between multiple tools and their image-space counterparts in images, affecting the performance and intuitiveness of these systems.
Innovation Solution
A robotic system with a control system that receives image data from an imaging device, determines multiple image-space tools, and establishes correspondences between these image-space tools and physical tools using disambiguation settings such as motion-based, pose-based, appearance-based, or operator-specified settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple tools are used in a robotic system, then the system's functionality and versatility are improved, but ambiguity arises in establishing correspondences between tools and image-space tools, worsening measurement precision
Solution Approach 1:
The system uses motion feedback from the robotic manipulator to disambiguate tool correspondences. By monitoring the actual motion of tools and comparing it with expected motion patterns, the control system can correctly identify which physical tool corresponds to which image-space tool, even when multiple similar tools are present. This feedback mechanism resolves the ambiguity that arises from using multiple tools.
2Adaptability or versatility
If multiple tools are used in a robotic system, then the system's functionality and versatility are improved, but the complexity of establishing and maintaining accurate correspondences increases, worsening device complexity
Solution Approach 1:
The system employs self-service mechanisms where the robotic manipulator's own motion serves as the key to disambiguate tool correspondences. Rather than requiring external calibration or complex identification systems, the system uses the manipulator's motion data to automatically determine which tool corresponds to which image-space representation. This reduces the overall system complexity while maintaining functionality with multiple tools.
3Measurement precision
If motion-based disambiguation is used to establish tool correspondences, then measurement precision is improved, but the time required for the disambiguation process increases
Solution Approach 1:
The system performs preliminary motion execution where the robotic manipulator executes a series of predefined motions before final tool correspondence determination. By pre-executing these motions and capturing the resulting image data in advance, the system can efficiently process correspondence information without delaying the main surgical or operational workflow. This preliminary action reduces the time penalty associated with motion-based disambiguation.
Data Source
AI summary
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.