Robotic Visualization System Collision Avoidance via 3D Path Planning
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Solution Overview
Problem
Robotic visualization systems in surgery face limitations in capturing desired fields of view due to collision avoidance methods that restrict movement paths, reducing usability and image quality.
Innovation Solution
A method that uses a 3-D model of the surroundings to determine collision probabilities and adapt the robotic visualization system's pose and imaging configuration, allowing for collision-free movement paths and enhanced image capture of target fields of view by adjusting the robotic arm's position and camera settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision avoidance regions are defined to prevent collisions of the RVS with objects and subjects in the surround, then collision safety is improved, but the capture poses which the RVS can adopt are restricted, reducing usability
Solution Approach 1:
The patent applies dynamics by transitioning from static collision avoidance regions to dynamic movement path planning. The system calculates optimal movement paths in real-time based on the current pose and desired capture pose, allowing the RVS to dynamically navigate around obstacles rather than being constrained by fixed exclusion zones. This enables the system to adapt its movement strategy based on the surgical environment and maintain both safety and usability.
Solution Approach 2:
The patent resolves the contradiction by adding the movement path dimension to the collision avoidance approach. Instead of restricting poses based on static regions, the system evaluates movement paths in three-dimensional space, considering the trajectory from current to desired pose. This dimensional shift allows the RVS to achieve desired capture poses while avoiding collisions through careful path planning rather than pose restriction.
2Reliability
If the RVS is prevented from moving into regions where objects or subjects are situated, then collision probability is reduced, but not all desired fields of view are realizable
Solution Approach 1:
The patent applies preliminary action by calculating the optimal movement path before executing the movement to the desired capture pose. The system pre-determines a collision-free trajectory based on the current pose, desired pose, and the 3-D model of the surround, ensuring that the RVS can achieve the desired field of view without colliding with objects or subjects in the surgical environment.
Solution Approach 2:
The patent introduces an intermediary approach by using a 3-D model of the surgical surround as a mediator between the desired capture pose and the actual movement execution. This model contains information about objects and subjects in the environment, allowing the system to plan movement paths that navigate around obstacles rather than being blocked by them, thus maintaining field of view coverage while avoiding collisions.
3Reliability
If the robotic arm is constrained to avoid collisions with static and dynamic objects, then safety is improved, but the degrees of freedom of the RVS are effectively reduced
Solution Approach 1:
The patent applies feedback by continuously monitoring the RVS pose and calculating optimal movement paths based on real-time information from the 3-D model of the surround. The system receives feedback about the surgical environment and adjusts the movement path accordingly, maintaining safety while preserving the full degrees of freedom of the robotic arm through intelligent path planning rather than mechanical constraints.
Data Source
AI summary
A method and associated system for operating a robotic visualization system comprising an imaging optical unit and a robotic arm for positioning the imaging optical unit within a surround. The method includes ascertaining a target field of view to be visualized by means of the imaging optical unit. Ascertaining a target pose of the robotic visualization system for capturing an image of the target field of view with a first imaging configuration of the imaging optical unit. Ascertaining a collision probability along a movement path of the robotic visualization system from a current pose to the ascertained target pose using a 3-D model of the surround. Ascertaining an adapted target pose for capturing an image corresponding to the target field of view with a second imaging configuration of the imaging optical unit using the 3-D model of the surround, should the ascertained collision probability exceed a predetermined threshold value.