Surgical Robot Tool Identification Through Localizer Position Matching
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Solution Overview
Problem
Surgical robots face challenges in accurately identifying and maintaining the position, orientation, and trajectory of different tools due to limited visibility and human error in tool selection, especially when multiple visually similar tools are used in procedures like hip replacement.
Innovation Solution
A surgical system with a navigation system that includes a localizer to detect tool features, a memory to store identification data, and controllers to compare the detected position with stored data to determine the tool's identity, presenting it on a display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual tool identification and input is used, then the surgeon has control over tool selection, but human error increases and identification time increases
Solution Approach 1:
The system enables automatic tool identification through the surgical robot's sensor system, which autonomously detects tool features and retrieves identification data without requiring manual surgeon input. The controller automatically compares detected features with stored data to identify the tool, eliminating the time-consuming and error-prone manual identification process while maintaining surgical control.
Solution Approach 2:
The patent replaces the manual mechanical process of tool identification with an automated sensor-based system. The surgical robot uses sensors to detect tool features (such as geometric features, RFID tags, or barcodes) and automatically processes this information through a controller to identify the tool, substituting human manual operations with automated sensing and data processing.
2Adaptability or versatility
If multiple visually similar tools are used, then surgical versatility is improved, but tool identification becomes more difficult and error-prone
Solution Approach 1:
The system introduces an intermediary identification mechanism (such as RFID tags, barcodes, or unique geometric features) that mediates between the visually similar tools and the detection system. These intermediaries provide distinctive identifiers that are not visually apparent but can be automatically detected by sensors, allowing the system to distinguish between similar tools without affecting surgical versatility.
Solution Approach 2:
The patent employs distinctive visual or electromagnetic characteristics (analogous to color changes) on or within the tools, such as different RFID frequencies, barcode patterns, or geometric feature configurations. These characteristics allow the sensor system to differentiate between visually similar tools by detecting their unique identification signatures rather than relying on visual inspection.
3Productivity
If automatic tool identification is implemented, then identification speed and accuracy improve, but system complexity increases
Solution Approach 1:
The surgical robot's sensor system and controller are designed to perform multiple functions: they not only identify tools but also track tool positions, monitor tool status, and provide navigation guidance. By making these components multi-functional, the system achieves automatic tool identification without proportionally increasing overall system complexity, as the same hardware serves multiple purposes.
Solution Approach 2:
The patent combines the tool identification function with existing surgical robot components such as the sensor system, navigation system, and controller. Rather than adding separate dedicated identification hardware, the system merges identification capabilities into existing components, thereby improving productivity while minimizing the increase in device complexity.
4Device complexity
If manual tool input is required, then system simplicity is maintained, but surgical efficiency decreases due to time loss
Solution Approach 1:
The system performs preliminary action by pre-storing identification data for all possible tools in the surgical robot's memory before the surgical procedure begins. When a tool is attached to the robot, the sensor system immediately detects its features and the controller automatically retrieves the corresponding identification data from pre-stored information, eliminating the need for manual input during the procedure and improving surgical efficiency without significantly complicating the system.
Data Source
AI summary
Systems and methods for assisting users with accurate tool identification. A tool includes a tool feature, and a navigation system includes a localizer to detect a position of the tool feature. A memory stores identification data associated with a plurality of tools. Controller(s) is/are coupled to the navigation system, the memory and the display. The controller(s) receive, from the localizer, the detected position of the tool feature and compare the detected position of the tool feature with the identification data stored in the memory to determine an identity of the tool. The controller(s) present, on a display, the identity of the tool and an identity of at least one other tool.