Surgical Platform Pose Positioning Without Vision-Based Registration
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Solution Overview
Problem
Existing surgical platform positioning systems face challenges due to environmental factors affecting vision-based methods and human errors in manual registration, leading to complex and inaccurate positioning processes.
Innovation Solution
A surgical platform positioning system that includes a positioning module and a pose acquisition module, which uses real-time linear acceleration, angular velocity, and magnetic field measurements to determine the pose information of surgical platforms, ensuring accurate and reliable positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If vision-based method is used for robotic arm positioning, then positioning can be performed automatically, but the process is easily affected by environmental factors such as lighting, reflection, noise, and occlusion, leading to complex preparation and repeated adjustments
Solution Approach 1:
The patent replaces vision-based positioning with an inertial measurement-based positioning system. The inertial measurement unit (IMU) mounted on the robotic arm or trolley directly measures linear acceleration, angular velocity, and magnetic field information, eliminating dependence on visual recognition and its susceptibility to environmental factors like lighting, reflection, and occlusion.
Solution Approach 2:
The patent introduces an inertial measurement unit as an intermediary device between the robotic arm and the positioning system. This IMU serves as a mediator that provides direct physical measurement data, bypassing the need for visual field analysis and reducing the complexity of environmental adaptation.
2Ease of operation
If manual subjective visual alignment is used for positioning, then the process is simple to implement, but accuracy and reliability are difficult to ensure and only orientation information can be determined
Solution Approach 1:
The system enables self-service positioning by mounting the inertial measurement unit directly on the trolley or robotic arm. The device automatically acquires its own pose information through inertial sensors without requiring manual adjustment or subjective visual alignment by operators, thereby improving both accuracy and operational simplicity.
Solution Approach 2:
The patent replaces manual visual alignment with automated inertial measurement. The IMU directly measures linear acceleration, angular velocity, and magnetic field data to compute precise position and orientation information, eliminating human subjective judgment and achieving higher measurement precision while maintaining ease of operation.
3Device complexity
If single camera device is used for positioning, then the device complexity is low, but it is impossible to complete positioning for surgical procedures requiring special positioning
Solution Approach 1:
The inertial measurement unit serves multiple functions: it measures linear acceleration, angular velocity, and magnetic field information, enabling comprehensive positioning for various surgical procedures. This single device replaces the need for multiple camera systems or specialized positioning equipment, achieving both simplicity and versatility.
Solution Approach 2:
The patent replaces complex vision-based positioning systems with a compact inertial measurement unit. The IMU provides universal positioning capability across different surgical scenarios without requiring complex camera arrangements, feature pattern recognition, or multiple viewing angles, thereby achieving high adaptability with low device complexity.
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 system simplifies and accelerates the positioning process of surgical platforms, improving accuracy and reliability by reducing the impact of environmental and human factors.
Implementation Method 1
obtain linear acceleration information, angular velocity information, and magnetic field information of the trolley or robotic arm
Implementation Method 2
obtain linear acceleration information, angular velocity information, and magnetic field information of the trolley or robotic arm
Implementation Method 3
obtain linear acceleration information, angular velocity information, and magnetic field information of the trolley or robotic arm
Data Source
AI summary
Example embodiments relate to a surgical platform positioning system, a pose information determining method and a device. The system includes a positioning module, at least one surgical platform, and at least one pose acquisition module. The at least one pose acquisition module is configured to be mounted on a measured object, acquire the initial pose information of the measured object, and send the initial pose information to the positioning module. The measured object includes at least one surgical platform or includes the positioning module and at least one surgical platform. The positioning module is configured to receive the initial pose information sent by the pose acquisition module and determine the target pose information of each measured object in the same space based on the initial pose information.