Surgical Robot Tracking Markers for 3D Positioning
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Solution Overview
Problem
Current position recognition systems in robot-assisted surgeries require rigid attachment of tracking sensors to objects and typically need multiple markers for accurate 3D position determination, limiting their mobility and accuracy.
Innovation Solution
A surgical robot system with a robot arm, end-effector, and camera setup that uses a plurality of tracking markers on the end-effector and guide tube, allowing for electronic control of the end-effector's movement and detection by cameras to determine the 3D position, enabling accurate tracking with fewer markers and greater mobility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rigid attachment of tracking sensors is used, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The tracking marker is made movable relative to the end effector, transitioning from rigid attachment to a dynamic configuration where the marker can slide or rotate along a guide structure. This allows the marker to maintain accurate tracking while accommodating the mobility and operational flexibility of the end effector during surgical procedures.
2Measurement precision
If multiple markers are used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The solution transitions from using multiple separate markers distributed on the end effector to a single marker positioned in space relative to the end effector. By defining the marker's position through spatial coordinates and geometric relationships rather than multiple physical markers, the system achieves accurate 3D position determination with reduced complexity.
3Device complexity
If fewer markers are used, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
A guide structure (such as a guide tube or rail) is introduced as an intermediary element that defines the possible positions and orientations of the single tracking marker relative to the end effector. This intermediary provides the geometric constraints needed to achieve accurate 3D position determination with only one marker, eliminating the need for multiple markers while maintaining 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 solution enhances the accuracy and mobility of 3D position tracking in robot-assisted surgeries by allowing the end-effector to be positioned with precision and flexibility, improving surgical precision and reducing the number of required markers.
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
Implementation Method 2
In passive sensors or markers, objects to be tracked may include passive sensors, such as reflective spherical balls, which are positioned at strategic locations on the object to be tracked
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.