Surgical Robot Floor Calibration for Navigation Accuracy
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Solution Overview
Problem
Existing navigation technologies in robotic-assisted surgery face challenges due to decalibration issues caused by movement of the surgical robot or camera, leading to prolonged surgery durations.
Innovation Solution
A surgical robot equipped with a calibration device that includes a light source, image capture component, and calibration module, which quantifies movements of the floor-mounted base relative to the floor using data from the image capture component, allowing for real-time adjustment of tracking data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot and camera are kept at fixed positions to maintain calibration, then navigation accuracy is improved, but operational flexibility deteriorates as personnel cannot move the robot without de-calibration
Solution Approach 1:
The system transitions from a static calibration approach to a dynamic one by continuously monitoring the robot's position and orientation during surgery. The calibration module actively tracks movements and updates the global referential system in real-time, allowing the robot to be moved without requiring full recalibration. This dynamic adaptation resolves the contradiction by maintaining navigation accuracy while enabling operational flexibility.
Solution Approach 2:
The calibration device provides continuous feedback on the robot's position and orientation relative to the global referential system. This feedback loop allows the system to detect and compensate for movements automatically, maintaining navigation accuracy even when the robot is repositioned. The feedback mechanism enables personnel to move the robot freely while the system corrects for positional changes in real-time.
2Ease of operation
If the robot is allowed to move during surgery for operational flexibility, then ease of operation is improved, but calibration accuracy deteriorates due to de-calibration events
Solution Approach 1:
The system performs preliminary calibration to establish the initial global referential system, then continuously monitors and compensates for subsequent movements. By having the calibration device ready and actively tracking from the outset, the system can maintain accuracy throughout the procedure without requiring interruptive recalibration events, thus preserving both operational flexibility and calibration accuracy.
Solution Approach 2:
The calibration module operates continuously throughout the surgical procedure, constantly monitoring the robot's position and updating the global referential system. This continuous operation eliminates gaps in calibration coverage, ensuring that navigation accuracy is maintained at all times regardless of robot movements, while allowing uninterrupted operational flexibility.
3Measurement precision
If recalibration is performed frequently to maintain accuracy after movements, then measurement precision is improved, but surgery duration increases due to procedure halts
Solution Approach 1:
The system replaces manual recalibration procedures with an automated calibration module that continuously tracks and compensates for robot movements. This substitution eliminates the need for personnel to physically intervene and perform recalibration steps, allowing the system to maintain accuracy automatically without halting the surgical procedure, thus reducing surgery duration while preserving calibration accuracy.
Solution Approach 2:
The calibration module performs preliminary calibration to establish the global referential system, then proactively monitors and compensates for movements in real-time. This preliminary setup with continuous monitoring prevents the need for frequent interruptive recalibration events, maintaining measurement precision while minimizing interruptions to the surgical flow and reducing overall surgery duration.
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
The solution enables continuous and accurate tracking during surgical procedures by detecting and quantifying relative movements between the tracking system and the surgical robot, thereby reducing the need for recalibration and shortening surgery duration.
Implementation Method 1
an image capture component configured for capturing light reflected and/or backscattered from the floor
Implementation Method 2
an image capture component configured for capturing light reflected and/or backscattered from the floor
Data Source
AI summary
A surgical robot for computer-assisted surgery may include a floor-mounted base. A robotic arm is supported by the floor-mounted base. A calibration device is on the floor-mounted base. The calibration device may include a light source, an image capture component, lenses for directing light from the light source onto the floor and for directing light reflected and/or backscattered from the floor onto the image capture component. A calibration module is coupled to the image capture component, the calibration module for quantifying a movement of the floor-mounted base relative to the floor using data from the image capture component associated with the light reflected and/or backscattered from the floor.