Robot Arm Skin-Surface Guidance With Meshed Body Tracking
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Solution Overview
Problem
Existing methods for reconstructing three-dimensional surfaces of the human body are not suitable for real-time dynamic control of medical devices near the skin surface, requiring significant computational resources and often necessitate human assistance, making it difficult to implement complex guiding of robotized arms that can adapt to deformations or displacements.
Innovation Solution
A method for guiding a robot arm using a meshed body model generated from patient data, involving steps like generating a body model, planning a treatment trajectory, calculating a guiding trajectory, and activating a kinematic of the robot arm to cover the trajectory in real time, with sensor activation based on predefined straight lines, enabling real-time enslavement of medical equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional three-dimensional surface reconstruction methods are used, then measurement precision is improved, but device complexity and computational resources increase significantly
Solution Approach 1:
The patent creates a simplified digital copy (meshed body model) of the patient's body surface that can be processed in real-time. Instead of using complex traditional 3D reconstruction algorithms, the system generates a lightweight mesh model that replicates the essential geometric features needed for robot guiding, thereby reducing computational complexity while maintaining sufficient measurement precision for medical applications
Solution Approach 2:
The patent transforms the complex continuous surface representation into a discrete mesh structure defined by vertices and facets. By changing the representation parameters from high-resolution continuous data to a simplified mesh topology, the system achieves real-time processing capability while preserving the essential surface geometry needed for accurate robot arm guiding
2Measurement precision
If traditional surface reconstruction methods are used, then measurement precision is improved, but processing time increases
Solution Approach 1:
The patent performs preliminary actions by pre-generating the meshed body model from acquired surface data before the actual treatment process. This upfront creation of a simplified digital twin allows subsequent robot guiding operations to proceed in real-time without repeated complex calculations, thereby reducing processing time while maintaining precision
Solution Approach 2:
The patent implements a dynamic meshed body model that can be updated in real-time as the patient's body moves or deforms during treatment. The mesh structure allows for efficient incremental updates rather than complete re-reconstruction, enabling the system to adapt to changing conditions while maintaining real-time processing capability
3Measurement precision
If direct image acquisition systems are used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent creates a simplified digital copy (meshed body model) of the patient's body surface that can be processed in real-time. Instead of using complex traditional 3D reconstruction algorithms, the system generates a lightweight mesh model that replicates the essential geometric features needed for robot guiding, thereby reducing computational complexity while maintaining sufficient measurement precision for medical applications
Solution Approach 2:
The meshed body model serves as an intermediary representation between the acquired image data and the robot guiding system. This intermediate mesh structure simplifies the data format and makes it more suitable for real-time processing and robot control, acting as a mediator that reduces the complexity of direct image processing while preserving essential measurement information
Data Source
AI summary
A method for guiding in real time a robot arm for the processing of data of the surface of a body, includes generating a body model including a meshing of points; planning a treatment trajectory on the surface of the body model with a calculator; activating at least one transmission of a transmitter and/or acquisition of a sensor of an operator device, the operator device being arranged at the distal end of the robotised arm, the activation being carried out when the orientation of the axis of the sensor or the transmitter is merged with a predefined straight line passing through the target point, the target point being referenced on the generated body model.