Robotic Surgical Tool Tracking via Kinematic-Visual Fusion
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Solution Overview
Problem
Minimally invasive surgical procedures face challenges in accurately localizing and tracking robotic surgical tools, especially when they are out of the endoscopic camera's field of view or obscured, due to interference from metal tools and electrical motors, and existing solutions like optical devices and magnetic devices are inadequate for providing precise position and orientation information.
Innovation Solution
A system that integrates robot kinematics and visual information using analysis-by-synthesis techniques, adaptive fusion, and sequence matching to accurately track the pose of robotic surgical tools, providing continuous pose information and relationships between tools without the need for markers, thus enhancing tool tracking in minimally invasive surgical systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical devices are attached to robotic surgical tools to track position, then position information can be obtained, but the optical devices interfere with endoscopic surgical procedures and do not provide sufficiently accurate position and orientation information
Solution Approach 1:
The patent replaces optical tracking devices with a magnetic field-based tracking system. The magnetic device generates a magnetic field that is sensed by sensors to determine the position and orientation of the robotic surgical tool, eliminating the need for optical devices that interfere with endoscopic procedures. This substitution of the tracking mechanism resolves the contradiction by providing accurate measurement without procedural interference.
2Measurement precision
If a magnetic device is applied to a robotic surgical tool to sense location, then position information can be obtained, but the magnetic device does not work well due to interference from metal tools and electrical motors
Solution Approach 1:
The patent introduces a magnetic field as an intermediary between the robotic surgical tool and the sensing system. The magnetic device generates a magnetic field that penetrates through metal tools and electrical motors without being significantly affected by them. The magnetic field acts as a mediator that carries position information through the interfering environment, allowing accurate location sensing despite the presence of metal and electrical components.
3Measurement precision
If existing tracking methods are used, then tool position can be tracked, but only a single clue of the position is provided which is insufficient for precise localization
Solution Approach 1:
The magnetic device serves multiple functions simultaneously: it generates a magnetic field for position sensing, provides orientation information through field gradient analysis, and enables three-dimensional localization. This multi-functional approach replaces single-clue tracking methods with a comprehensive tracking system that provides complete position and orientation information, eliminating information loss.
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 provides robust and accurate tracking of robotic surgical tools, improving the precision and reliability of surgical procedures by effectively combining kinematic and visual data to overcome the limitations of existing methods, allowing for precise tool positioning and orientation even when tools are obscured.
Implementation Method 1
A magnetic device may be applied to a robotic surgical tool in an attempt to magnetically sense its location
Data Source
AI summary
In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.