Surgical Robotic Arm Vision Control for Precision
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Solution Overview
Problem
Existing surgical robotic arms require complex manual calibration and multiple sensors for automatic obstacle avoidance and precise movement, making them inefficient for surgical assistance.
Innovation Solution
A surgical robotic arm control system utilizing two image capturing units and a processor to analyze images and control the robotic arm's movement and posture through computer vision, allowing it to automatically approach and match with target objects while avoiding obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are disposed on the surgical robotic arm for automatic control, then automatic obstacle avoidance and precise movement are achieved, but device complexity and manual calibration requirements increase
Solution Approach 1:
The patent replaces the traditional mechanical sensor-based control system with a computer vision-based optical system. Two image capturing units (cameras) are used to capture images of the surgical field and the robotic arm end effector, and image processing algorithms automatically calculate position and orientation information, eliminating the need for multiple physical sensors and complex manual calibration procedures.
Solution Approach 2:
The patent uses image capturing units to create visual copies (images) of the surgical field and target objects. These image copies are then processed to extract position and orientation information, allowing the system to control the robotic arm based on visual information rather than direct mechanical sensing, thereby reducing device complexity while maintaining precision.
2Extent of automation
If multiple sensors and manual calibration operations are used, then automatic control functions are achieved, but surgical efficiency decreases due to complicated setup procedures
Solution Approach 1:
The system performs automatic calibration through image processing. The image capturing units automatically capture images, and the processor automatically calculates position and orientation information from these images without requiring manual intervention. This self-calibrating capability eliminates time-consuming manual setup procedures while maintaining full automatic control functions.
Solution Approach 2:
The system performs preliminary image capture and processing to establish the initial position and orientation of the robotic arm before surgical operations begin. By pre-calculating position information from images, the system prepares the automatic control functions in advance, reducing the time required during actual surgical procedures and improving overall surgical efficiency.
3Measurement precision
If manual calibration operations are performed in each surgical process, then accurate automatic movement is achieved, but time consumption increases
Solution Approach 1:
The patent replaces manual mechanical calibration operations with automated image processing. The processor automatically extracts position and orientation information from images captured by the image capturing units, eliminating the need for time-consuming manual calibration while maintaining accurate automatic movement control throughout the surgical process.
Data Source
AI summary
A surgical robotic arm control system and a surgical robotic arm control method are provided. The surgical robotic arm control system includes a surgical robotic arm, a first image capturing unit, a second image capturing unit, and a processor. The first image capturing unit is used for obtaining a field image. The field image includes a first target image of a target object. The second image capturing unit is disposed at an end position of the surgical robotic arm and is used to obtain a second target image of the target object. The processor analyzes the field image to obtain robotic arm movement information, and controls the surgical robotic arm to move to approach the target object. The processor analyzes the target image to obtain robotic arm rotation information, and controls an angle and a posture of the surgical robotic arm.