Surgical Robot Navigation With Multi-Objective Viewing-Angle Optimization
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Solution Overview
Problem
Existing surgical navigation systems face challenges in accurately adjusting the measurement viewing angle due to manual adjustments, which are inconvenient and lack guaranteed position accuracy, especially for special surgical positions, necessitating active navigation with environmental sensing and multi-objective optimization.
Innovation Solution
A surgical robot navigation and positioning system incorporating a surgical operation planning system, control host, serial robot, positioning sensors (binocular depth cameras and laser radar), and environmental perception sensors, with specific markers and a multi-objective optimization method to optimize viewing angles and ensure non-interference between sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment of the optical navigation device is used, then the device can be adjusted to observation positions, but the position accuracy cannot be guaranteed and operation convenience deteriorates
Solution Approach 1:
The patent replaces the manual mechanical adjustment system with an automated robot-controlled system. The robot receives control signals to automatically adjust the optical navigation device to predetermined measurement positions, eliminating the need for manual dragging and positioning while ensuring accurate and consistent placement at optimal viewing angles.
Solution Approach 2:
The patent changes the control parameter from manual operator skill to automated robot control with predetermined positions. By programming the robot to move the device to specific coordinates and orientations, the system ensures consistent positioning accuracy regardless of operator expertise, transforming the control mechanism from human-dependent to system-dependent.
2Measurement precision
If active navigation with environmental sensing is implemented, then position accuracy is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple functions into the robot system: positioning, environmental sensing, and navigation control. The robot serves as both the actuator for adjusting the optical device and the platform for mounting sensors that detect environmental conditions, reducing the need for separate dedicated systems and managing complexity through functional integration.
Solution Approach 2:
The patent introduces environmental sensors as intermediary components that mediate between the robot's positioning actions and the navigation system's requirements. These sensors detect obstacles and environmental conditions, providing feedback that helps the robot adjust positions accurately while avoiding conflicts, thus managing system complexity through intelligent intermediation.
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
The system enhances the accuracy and efficiency of surgical navigation by optimizing viewing angles and ensuring non-interference between sensors, improving position accuracy and reducing manual adjustment inconveniences.
Implementation Method 1
The positioning sensor is an optical positioning sensor and comprises a binocular depth camera based on visible light and/or a binocular positioning camera based on near-infrared light
Implementation Method 2
The environment perception sensor comprises a binocular depth camera based on visible light, a laser radar and an ultrasonic sensor
Implementation Method 3
The environment perception sensor comprises a binocular depth camera based on visible light, a laser radar and an ultrasonic sensor
Data Source
AI summary
A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools (4), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools (4) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool (4); defining a non-interference margin function between the positioning tools (4), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.