Surgical Robot Positioning Precision via Spatial Axis Measurement
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Solution Overview
Problem
Current surgical robot positioning systems face challenges in accurately measuring precision, particularly in determining point-to-point distances in space, which is crucial for successful surgeries, as absolute and repeated positioning precision do not comprehensively evaluate the orientation and point positioning errors.
Innovation Solution
A precision detection method and device that acquires spatial position coordinates of detection points, forms a planned path, and calculates distances to a spatial axis using a three-dimensional measurement instrument, enabling accurate detection of precision by imaging and registering scan images, and adjusting the path based on real-time position changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional point positioning precision indicators are used to evaluate surgical robot precision, then the evaluation is simple, but the evaluation is incomplete and does not reflect orientation errors
Solution Approach 1:
The patent transitions from evaluating only point positioning precision (0D/1D) to evaluating spatial path precision including orientation (3D). By introducing spatial axis and calculating distances from detection points to the spatial axis, the method adds dimensional information about orientation and angular errors, enabling comprehensive evaluation of both positioning and orientation precision.
Solution Approach 2:
The patent introduces a spatial axis as an intermediary element to evaluate robot precision. Instead of directly measuring complex orientation errors, the method uses the spatial axis formed by two detection points as a reference, and calculates perpendicular distances from other detection points to this axis. This intermediary approach transforms the complex orientation measurement problem into a more manageable geometric calculation.
2Measurement precision
If point-to-point distance measurement is performed in space, then comprehensive precision evaluation is achieved, but the measurement becomes very difficult
Solution Approach 1:
The spatial axis serves as an intermediary that simplifies spatial measurement. Instead of directly measuring complex three-dimensional point-to-point distances and angles, the method establishes a spatial axis as a reference line and measures perpendicular distances from detection points to this axis. This intermediary approach breaks down the complex spatial measurement into simpler orthogonal distance measurements.
Solution Approach 2:
The patent segments the complex spatial precision measurement problem into multiple simpler components: (1) forming a spatial axis from two detection points, (2) calculating perpendicular distances from other detection points to this axis, and (3) using these distances to evaluate both positioning and orientation precision. This segmentation transforms an intractable measurement problem into a series of manageable calculation steps.
3Measurement precision
If multiple detection points are measured to evaluate both positioning and orientation precision, then comprehensive evaluation is achieved, but the detection time increases
Solution Approach 1:
The patent performs preliminary actions by pre-establishing the spatial axis from two detection points before conducting the main precision evaluation. This preliminary setup creates a reference framework that accelerates subsequent measurements, as all other detection points can be evaluated relative to this pre-defined axis rather than requiring independent full spatial analysis for each point.
Solution Approach 2:
The spatial axis serves multiple functions simultaneously: it acts as a reference for measuring positioning precision, as a baseline for evaluating orientation errors, and as a geometric construct for calculating angular deviations. This multi-functionality allows comprehensive precision evaluation using a unified measurement framework, reducing the need for separate measurement procedures and thereby saving time.
Data Source
AI summary
A precision detection method for detecting the precision of a surgical robot positioning system includes: acquiring spatial position coordinates of a first detection point and a second detection point; acquiring information of a spatial axis for a surgical robot reaching a planned path, wherein the planned path is formed based on the first detection point and the second detection point; and calculating a first distance from the first detection point to a spatial axis and a second distance from the second detection point to the spatial axis. The precision detection method for a surgical robot positioning system can accurately detect the precision of the surgical robot positioning system.