Robotic Surgical Tool Pose Tracking via Computer Vision
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Solution Overview
Problem
Robotic surgical systems face challenges in accurately controlling and positioning tools within a surgical site, leading to potential discrepancies in kinematic models and safety concerns due to dynamic joint performance and load-induced errors.
Innovation Solution
The system visually captures the tool pose using an imaging device, determines the arm pose of the linkage, and manipulates the tool to a desired position, enabling precise movements and automated tasks while ensuring safety by requiring the tool to be within an enabled zone and the clinician's gaze to be directed to it before activation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional kinematic models are used to determine tool position, then the system structure is simpler, but measurement precision and positioning accuracy deteriorate due to load-induced errors and dynamic joint performance variations
Solution Approach 1:
The patent replaces traditional mechanical kinematic modeling with an optical vision system. Instead of relying on mechanical sensors and mathematical models of the robotic arm's kinematics, the system uses imaging devices to directly capture and calculate tool pose visually, eliminating the accumulation of mechanical errors from joint measurements and load-induced deformations.
Solution Approach 2:
The patent creates a visual copy or representation of the tool's position and orientation through imaging devices. By capturing images of the tool within the surgical site and calculating its pose from these visual data, the system creates an accurate optical replica of the tool's actual position, which is then used for control purposes.
2Productivity
If automated tool functions are enabled based on position, then productivity increases, but safety risks increase due to potential inadvertent activations outside the enabled zone
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously monitors the tool's position relative to the enabled zone and provides visual feedback to the clinician through color-coded indicators. The system only enables automated functions when the tool is confirmed to be within the designated enabled zone, creating a closed-loop safety mechanism that prevents inadvertent activations.
Solution Approach 2:
The patent uses color changes as a visual indication system to communicate the tool's status and enabled zone boundaries to the clinician. Different colors indicate whether the tool is within the enabled zone and whether automated functions are available, providing intuitive visual feedback that enhances safety while enabling automation.
Data Source
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AI summary
Robotic Surgical Systems and methods of controlling robotic surgical systems are disclosed herein. One disclosed method includes visually capturing a tool pose of a tool within a surgical site with an imaging device in a fixed frame of reference, determining an arm pose of a linkage supporting the tool from known geometries of the linkage in the fixed frame of reference, and manipulating the linkage to move the tool to a desired tool pose in response to a control signal in the fixed frame of reference.