Surgical Tool Homing via Machine Vision and Closed-Loop Feedback
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Solution Overview
Problem
Current robotic systems for minimally invasive surgical procedures face challenges in accurately determining the position of surgical tools, particularly end effectors with articulation joints, due to mechanical homing methods that are difficult to integrate and lack confirmation of precise calibration.
Innovation Solution
The implementation of machine vision techniques combined with closed-loop feedback systems allows for precise calibration of surgical tools by detecting discrepancies in target features' positional information, generating transformation instructions, and adjusting the end effector's position, ensuring accurate movement and confirmation of calibration without additional hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical homing methods are used to determine end effector position, then the system can obtain position information, but the method is difficult to incorporate into robotic systems and cannot confirm accurate calibration
Solution Approach 1:
The patent replaces mechanical homing methods with an optical imaging system. The imaging device captures images of the end effector, and image processing algorithms determine position and orientation without mechanical contact or complex mechanical homing mechanisms. This substitution resolves the contradiction by providing accurate measurement through optical means while reducing mechanical complexity.
Solution Approach 2:
The patent creates a visual copy (image) of the end effector and processes this copy to determine position information. Instead of relying on mechanical sensors or direct mechanical measurement, the system captures an optical representation and extracts position data through image analysis, achieving accurate measurement without complex mechanical integration.
2Reliability
If existing homing methods are used, then position calibration can be performed, but the user cannot confirm that the end effector is accurately homed
Solution Approach 1:
The patent implements a feedback mechanism where the imaging device continuously monitors the end effector position, compares it with the planned or reference position, and provides verification to the user. The system can display whether the end effector is accurately positioned based on image analysis, giving the user confirmation of calibration accuracy through visual feedback.
3Measurement precision
If traditional robotic systems are used, then surgical procedures can be performed, but it is difficult to know the exact position of the end effector
Solution Approach 1:
The patent replaces difficult mechanical position detection with optical imaging and computer vision. The imaging device captures visual information of the end effector, and software algorithms automatically determine precise position and orientation. This approach makes position detection easier while improving measurement precision, as optical methods provide direct visual information without complex mechanical sensing.
Data Source
AI summary
An exemplary system and method for homing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can be coupled to a robotic surgical system featuring an imaging device and a processor. Through the use of closed-loop feedback and machine vision techniques, the end effector can be calibrated into a home position to ensure precise and accurate movement of the end effector when in use by a surgeon.