Rotatable Tracking Assembly for Wider Surgical Robot Visibility
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Solution Overview
Problem
Existing tracking assemblies for surgical robotic systems are limited in navigable work space due to the restricted conditions for camera visibility of reflective markers, which impedes accurate localization and navigation of the surgical robotic system to multiple surgical targets.
Innovation Solution
A tracking assembly with at least two tracking patterns, each comprising three optical markers, where at least one pattern is rotatably mounted relative to the tool guide, allowing rotation around the tool guide axis, and having different inclinations relative to a reference plane, ensuring continuous visibility and accurate localization by a camera across a wider range of positions and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single tracking pattern with reflective markers is used, then the structure is simple, but the navigable work space is limited due to restricted camera visibility
Solution Approach 1:
The tracking assembly is divided into multiple tracking patterns (at least two), each with different inclinations relative to the reference plane. Each tracking pattern can be independently positioned and oriented, allowing the camera to detect at least one pattern within its field of view regardless of the robotic system's position, thereby expanding the navigable work space.
Solution Approach 2:
Tracking patterns are arranged with different inclinations (angular dimensions) relative to the reference plane. This multi-dimensional arrangement ensures that as the robotic system moves through different positions and orientations, at least one tracking pattern remains within the camera's visibility range, overcoming the limitation of a single fixed-pattern orientation.
2Reliability
If reflective markers with fixed orientation are used, then the manufacturing is simple, but the camera visibility is restricted to specific positions and orientations
Solution Approach 1:
The tracking assembly serves multiple functions by incorporating tracking patterns with different inclinations. Each pattern acts as a backup and supplement to the others, ensuring that the system maintains reliable camera visibility across a wide range of positions and orientations, making the tracking system universally applicable throughout the expanded navigable work space.
3Adaptability or versatility
If multiple tracking patterns with different inclinations are added, then the navigable work space increases, but the device complexity increases
Solution Approach 1:
The tracking assembly incorporates rotational capability, allowing at least one tracking pattern to rotate around the tool guide axis. This dynamic element enables the tracking patterns to adapt their orientation to maintain visibility as the robotic system moves, effectively increasing the navigable work space and range of accessible surgical targets without requiring a proportional increase in the number of static tracking patterns.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate tracking and navigation of the surgical robotic system in a greater navigable work space, allowing it to reach a wider range of surgical targets by maintaining camera visibility through rotatable tracking patterns with varied inclinations, enhancing localization accuracy and redundancy.
Implementation Method 1
A known optical-based tracking assembly comprises several reflective markers
Data Source
AI summary
The invention relates to a tracking assembly (1) for a surgical robotic system, comprising at least two tracking patterns, wherein at least one of said at least two tracking patterns is adapted to be rotatably mounted relative to a tool guide (2) of the surgical GT robotic system so as to be moveable in rotation around a tool guide axis (X) normal to a reference plane (P), wherein each of said at least two tracking patterns defines a range of visibility substantially directed along a visibility axis, wherein an inclination relative to the reference plane (P) of the visibility axis of a first tracking pattern of the tracking assembly (1) is different from an inclination relative to the reference plane (P) of the visibility axis of a second tracking pattern of the tracking assembly (1).