Hybrid Tracking Guidance for Surgical Robots
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Solution Overview
Problem
Conventional surgical robot systems for dental surgery face challenges such as patient discomfort due to mechanical tracking arms that are physically attached or tethered, and interference issues with remote tracking devices like optical and electromagnetic systems, which restrict patient movement and surgical efficiency.
Innovation Solution
A tracking and guidance arrangement that combines mechanical and optical or electromagnetic tracking, using a fiducial marker and a detector connected to an articulating arm, with a controller to determine and maintain the spatial relation between the marker and the detector, allowing the surgical instrument to interact with the patient without physical constraints, thereby minimizing line-of-sight requirements and interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mechanical tracking arm is physically attached or tethered to a patient, then patient movement can be tracked, but patient discomfort increases and patient motion is physically constrained
Solution Approach 1:
The patent extracts the tracking function from the mechanical arm and assigns it to a separate detector device. The detector (optical or electromagnetic) is positioned near the fiducial marker on the patient without physical attachment, while the mechanical arm handles only the surgical instrument. This separation eliminates the constraint on patient motion while maintaining tracking capability.
Solution Approach 2:
The patent introduces a fiducial marker as an intermediary element attached to the patient, which serves as a target for the detector. This allows the system to track patient motion indirectly through the marker's position relative to the detector, avoiding direct physical coupling between the tracking system and the patient.
2Measurement precision
If a remote optical tracking system using a stereoscopic camera is used, then patient movement can be tracked, but line-of-sight requirements lead to constant repositioning of surgical instruments and equipment
Solution Approach 1:
The patent replaces the remote optical stereoscopic camera system with a detector that can be positioned close to the fiducial marker. This substitution eliminates the line-of-sight constraints of remote optical systems, as the detector can track the marker from immediate proximity without requiring unobstructed views from a distance.
3Measurement precision
If an electromagnetic tracking system is used, then patient movement can be tracked, but interference or interruption of communication may occur which inhibits or prevents system efficiency
Solution Approach 1:
The patent uses a fiducial marker as an intermediary that reflects or modulates the tracking signal locally. This intermediary approach allows the detector to track motion through the marker's physical position rather than relying on electromagnetic signals that may be interrupted, improving communication reliability while maintaining tracking 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
This hybrid tracking and guidance system enhances patient mobility, reduces interference, and improves surgical efficiency by allowing precise tracking and guidance of surgical instruments without the limitations of traditional systems, providing a more comfortable surgical experience.
Implementation Method 1
The detector is configured to interact with the fiducial marker... The detector is a camera or electromagnetic detector
Implementation Method 2
The detector is a camera or electromagnetic detector... an electromagnetic tracking system
Data Source
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AI summary
A tracking and guidance arrangement for a surgical robot system and related method are provided. The arrangement includes an object-interacting device including an instrument engaged a distal end of a guide arm and a fiducial marker coupled to an object. A detector is connected to an articulating arm and co-operable therewith to be positioned adjacent to the fiducial marker, with the detector being configured to interact with the fiducial marker. A controller device is configured to receive data from the detector relative to the interaction thereof with the fiducial marker, to determine a spatial relation between the fiducial marker and the detector based on the data, to determine a spatial relation of the instrument relative to the fiducial marker, and to direct the instrument to interact with the object according to the determined spatial relations.