Surgical Robot Tracking Markers for Accurate 3D Positioning
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Solution Overview
Problem
Current position recognition systems in robot-assisted surgeries are limited by the need for rigidly attached tracking sensors and require multiple markers to accurately determine the 3D position of objects, which can be cumbersome and impractical, especially when the object is movable or requires fewer sensors.
Innovation Solution
The system incorporates a surgical robot with a robot base, arm, and end-effector equipped with moveable and interchangeable tracking markers, allowing for precise 3D position determination using a single camera to detect markers in different configurations, enabling accurate tracking of movable objects with fewer markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple tracking markers are used to accurately determine the 3D position of an object, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent applies the dynamics principle by making the tracking marker moveable relative to the end-effector. The marker can be positioned at different locations on the end-effector while maintaining accurate 3D position tracking. This moveability allows the system to achieve precise measurement with fewer markers by strategically positioning them, rather than requiring multiple fixed markers throughout the structure.
Solution Approach 2:
The single moveable tracking marker serves multiple functions: it can be positioned at different locations on the end-effector to track various components, and it enables both 3D position determination and verification of instrument placement within the guide tube. This multi-functionality reduces the total number of markers needed while maintaining measurement precision.
2Measurement precision
If tracking sensors are rigidly attached to the object, then measurement precision is improved, but adaptability decreases
Solution Approach 1:
The patent directly applies the dynamics principle by designing a tracking marker that is not rigidly fixed but can be moved to different positions on the end-effector. The marker is attached in a manner that allows repositioning while maintaining stable tracking during measurement. This provides both the precision of a fixed attachment and the adaptability of being movable when needed.
Solution Approach 2:
The system changes the positional parameter of the tracking marker dynamically. The marker can be relocated to different coordinates on the end-effector structure depending on what needs to be tracked, allowing the system to adapt to different surgical instruments and configurations while maintaining accurate tracking through controlled repositioning.
3Device complexity
If fewer tracking markers are used, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
By making the single tracking marker moveable, the system compensates for having fewer markers. The marker can be positioned optimally to track different components of the end-effector and instrument assembly, providing comprehensive 3D position information with minimal hardware. This dynamic repositioning capability maintains measurement precision despite reducing the marker count.
Solution Approach 2:
The moveable tracking marker acts as an intermediary that can be positioned between different components of the surgical system. By strategically placing the marker at optimal intermediate positions on the end-effector, the system achieves accurate tracking of multiple components with a single marker, rather than requiring separate markers for each component.
4Reliability
If multiple fixed markers are used on the end-effector, then reliability of position tracking is improved, but ease of operation deteriorates
Solution Approach 1:
The patent applies dynamics by allowing the tracking marker to be repositioned on the end-effector as needed. This enables the operator to move the marker to different locations to track different instruments or components during the surgical procedure, improving ease of operation while maintaining reliable tracking through the marker's stable attachment at each position.
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 approach enhances the accuracy and flexibility of 3D position tracking in robot-assisted surgeries by allowing for movable markers and fewer sensors, improving the precision and efficiency of object tracking during surgical procedures.
Implementation Method 1
Infrared transmitters transmit a signal, and the reflective spherical balls reflect the signal to aid in determining the position of the object in 3D. In active sensors or markers, the objects to be tracked include active infrared transmitters, such as light emitting diodes (LEDs), and thus generate their own infrared signals for 3D detection.
Data Source
AI summary
Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.