Surgical Table Registration for Dynamic Robot Position Tracking
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Solution Overview
Problem
Tele-surgical systems face challenges in localizing movement within a surgical environment, requiring improvements in efficiency, ease of use, maneuverability, space utilization, setup speed, collision avoidance, and mechanical complexity reduction.
Innovation Solution
The implementation of a registration method between the surgical table and the manipulator assembly, using registration features such as contact or non-contact sensors, linear encoders, and shape sensors to determine the spatial relationship between the table and the manipulator, allowing for dynamic positioning and orientation adjustments during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the surgical table is separately positionable from the manipulator assembly to improve patient positioning flexibility, then adaptability is improved, but localization accuracy deteriorates due to difficulty in determining spatial relationship
Solution Approach 1:
A registration device is introduced as an intermediary component that couples between the surgical table and the manipulator assembly. This device includes fiducial markers that serve as a common reference frame, enabling the system to determine the spatial relationship between the independently positionable table and manipulator, thus maintaining localization accuracy while preserving positioning flexibility
Solution Approach 2:
The patent replaces complex mechanical coupling mechanisms with an optical/electromagnetic sensing system. Instead of physically linking the table and manipulator through complex mechanical structures, the system uses sensors to detect fiducial markers and calculate spatial relationships, simplifying the mechanical system while improving localization capability
2Measurement precision
If registration features such as sensors and encoders are added to determine spatial relationship, then localization accuracy is improved, but device complexity increases
Solution Approach 1:
The registration device serves multiple functions: it provides fiducial markers for localization, acts as a mechanical coupler between table and manipulator, and enables dynamic registration updates. By consolidating these functions into a single component, the patent reduces overall system complexity while maintaining high localization accuracy
Solution Approach 2:
The system uses the manipulator assembly's own sensors and control system to perform the registration function. Instead of requiring separate dedicated registration equipment, the manipulator's existing sensing capabilities are utilized to detect fiducial markers and compute spatial relationships, eliminating redundant components
3Adaptability or versatility
If dynamic positioning adjustments are made during procedures to improve surgical access, then adaptability is improved, but collision risk increases due to loss of registration
Solution Approach 1:
The registration system is designed to be dynamic rather than static. The fiducial markers remain visible throughout the procedure, and the system continuously updates the spatial relationship between table and manipulator as either component moves. This dynamic registration maintains collision avoidance capability while enabling flexible repositioning during surgery
Solution Approach 2:
The system implements continuous feedback by constantly monitoring the positions of fiducial markers relative to the manipulator. When the surgical table or manipulator assembly is repositioned, the sensors detect the change in marker positions and the control system automatically updates the spatial relationship data, providing real-time feedback that maintains accurate localization and collision avoidance
Data Source
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AI summary
Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.