Active Surgical End-Effector Tracking With Moveable 3D Markers
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Solution Overview
Problem
Existing position recognition systems for robot-assisted surgeries require rigidly attached tracking sensors and multiple markers to accurately determine the 3-dimensional position of moveable objects, which is inefficient and may obstruct the surgical field.
Innovation Solution
A surgical robot system with electronically controlled end-effectors and moveable tracking markers, using cameras to detect markers in various configurations, allowing precise 3-dimensional positioning without the need for multiple rigidly attached sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple tracking markers are rigidly attached to the object, then measurement precision is improved, but device complexity and obstruction of the surgical field increase
Solution Approach 1:
The patent extracts the tracking function from multiple rigidly attached markers and consolidates it into a single moveable marker. The marker is detached from rigid attachment and becomes an independent movable element that can be positioned flexibly, reducing the number of markers from multiple to one while maintaining tracking capability
Solution Approach 2:
The patent transforms the tracking marker from a static rigidly attached component to a dynamic moveable marker. The marker can change its position relative to the object being tracked, allowing it to be optimally positioned for tracking accuracy without being constrained by rigid attachment requirements
2Measurement precision
If multiple tracking markers are rigidly attached to the object, then measurement precision is improved, but the surgical field becomes more obstructed
Solution Approach 1:
The patent removes the obstruction problem by extracting the tracking function from multiple physical markers and implementing it with a single moveable marker. This reduction in the number of physical components directly reduces the obstruction of the surgical field while preserving the essential tracking functionality
Solution Approach 2:
The moveable marker can be positioned flexibly in space, allowing it to be placed in locations that minimize obstruction of the surgical field. The marker's mobility enables it to be positioned optimally for both tracking accuracy and minimal interference with the surgical procedure
3Measurement precision
If tracking sensors are rigidly attached to the object, then measurement precision is improved, but adaptability of the tracking system deteriorates
Solution Approach 1:
The patent introduces dynamics to the tracking system by making the marker moveable rather than rigidly attached. This allows the marker to be repositioned as needed during different surgical procedures or when optimizing tracking accuracy, significantly improving the adaptability of the system
Solution Approach 2:
The single moveable marker serves multiple functions: it can be positioned on different objects, repositioned on the same object, and used in various surgical configurations. This universality enhances the versatility of the tracking system while maintaining measurement precision
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 and efficient 3-dimensional tracking of moveable surgical instruments and implants, enhancing surgical precision and reducing the number of required markers, thereby improving surgical accuracy and reducing surgical field obstruction.
Implementation Method 1
Infrared transmitters transmit a signal, and the reflective spherical balls reflect the signal to aid in determining the position of the object in 3D. In active sensors or markers, the objects to be tracked include active infrared transmitters, such as light emitting diodes (LEDs), and thus generate their own infrared signals for 3D detection.
Data Source
AI summary
Active end-effectors for guiding an instrument during a robot-assisted surgery. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and the active end-effector coupled to the robot arm. The active end-effector may have a slide mechanism, which may provide for a greater range of motion of a surgical instrument along a vertical axis.