Robotic Manipulator Control Using Shape-Sensed Input Tracking

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Solution Overview

Problem

Current robotic medical procedure systems face challenges in accurately tracking operator controllers for precise control of medical tools, which can lead to tissue damage and increased recovery time for patients.

Innovation Solution

A system comprising a tool, an input device, a shape sensor system, and a processing unit that determines a state estimate of the input device based on shape information from the shape sensor system and controls the tool accordingly.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If traditional tracking methods are used for operator controllers, then the system structure remains simple, but the tracking accuracy and control precision deteriorate leading to tissue damage

Engineering Contradiction:

Improvetracking accuracyVSAvoidtissue damage

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent replaces traditional mechanical tracking systems with a magnetic field-based sensing system. Shape sensors containing flexible printed circuit boards with conductive traces generate magnetic fields that are detected by external magnets, enabling non-contact, high-precision tracking of operator controller position, orientation, and motion without mechanical linkages

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent changes the physical state and properties of the connection structure by integrating flexible printed circuit boards with conductive traces that can change their electrical and magnetic properties. These parameter changes enable the structure to function both as a mechanical connector and as an active sensor for tracking motion and position

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If shape sensor systems with flexible printed circuit boards are integrated into connection structures, then tracking precision improves, but device complexity increases

Engineering Contradiction:

Improvestate estimate accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent merges multiple functions into the connection structure: mechanical support, electrical connection, and magnetic sensing. The flexible printed circuit board integrates conductive traces that serve both as electrical pathways and as magnetic field generators for sensing, eliminating the need for separate sensor components

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The connection structure becomes multi-functional, serving as both a mechanical connector and an active sensing element. The flexible printed circuit board with conductive traces can detect magnetic fields while simultaneously providing electrical connectivity and structural support, reducing the overall number of components needed

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12318164B2Systems and methods for controlling a robotic manipulator or associated tool

Publication Date: 2025.06.03 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.