Surgical Robot Arm Capacitive Sensing for Line-of-Sight-Free Tracking
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Solution Overview
Problem
Optical tracking systems in robotized computer-assisted surgery require a line of sight between image acquisition devices and objects, leading to interruptions if visibility is disrupted, necessitating human intervention and room for improvement.
Innovation Solution
A robotized computer-assisted surgery system with an in-robot sensor system using capacitive sensors to continuously track and output the position and orientation of objects relative to the robot arm, allowing for uninterrupted tracking and control of the robot arm movements without the need for optical line of sight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If optical tracking systems are used to track the robot arm and surgical tools, then position and orientation information can be obtained, but tracking may be interrupted when line of sight is disrupted, requiring human intervention
Solution Approach 1:
The patent replaces optical tracking systems with capacitive sensing technology. The capacitive sensors detect the electrical capacitance changes caused by proximity to conductive objects (surgical tools and anatomical parts), enabling tracking without requiring line of sight. This substitution eliminates the fundamental limitation of optical systems while maintaining position and orientation tracking capabilities.
Solution Approach 2:
The patent introduces capacitive sensors as an intermediary detection mechanism between the robot arm and the surgical field. These sensors detect changes in electrical field capacitance caused by the proximity of conductive objects, serving as a mediator that provides tracking information without requiring direct visual contact or line of sight, thus ensuring continuous tracking.
2Measurement precision
If optical sensors are positioned externally to track objects, then position and orientation data can be acquired, but the system requires line of sight and may be disrupted by obstacles
Solution Approach 1:
The patent replaces external optical sensing with integrated capacitive sensing. The capacitive sensors are embedded within the robot arm structure, detecting position and orientation through electrical field interactions with conductive objects. This substitution eliminates the line of sight requirement while maintaining precise tracking capabilities, as capacitive fields can penetrate through non-conductive materials and obstacles.
Solution Approach 2:
The patent embeds capacitive sensors within the structure of the robot arm itself. The sensors are nested inside the robot arm's housing, allowing the robot arm to carry its own sensing capability. This nested configuration enables the sensors to detect objects in proximity without requiring external optical line of sight, as the capacitive field extends outward from the robot arm's surface.
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 continuous and precise tracking of anatomical parts and surgical tools, reducing the need for human intervention and improving surgical precision by using capacitive sensors integrated within the robot arm to generate surface models and control movements.
Implementation Method 1
an in-robot sensor system in the robot arm, the in-robot robot system having a plurality of capacitive sensors
Data Source
AI summary
A robotized computer-assisted surgery system may include a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for obtaining readings from some capacitive sensors representative of at least one object within range; generating a surface model of the at least one object from the readings; and continuously tracking and outputting the position and orientation of the at least one object relative to the robot arm, using the readings and the surface model.