VR Headset Tracking for Surgical Robot Control
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Solution Overview
Problem
Current surgical robotic systems face challenges in controlling dexterous devices within confined spaces, such as during minimally invasive or natural orifice surgery, due to limited visual feedback and the need for complex hand movements, leading to increased surgery duration and cost, and are difficult to operate due to high degrees of freedom and steep learning curves.
Innovation Solution
A surgical robot system that utilizes a virtual reality device with live imagery and tracking data to enable target selection and path determination for end-effectors without relying on hand dexterity, using head or eye movement tracking to guide the robot to the target within the surgical site.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical robots use complex multi-degree-of-freedom mechanisms to improve dexterity in confined spaces, then the robot's ability to operate in constrained spaces is improved, but the device complexity and difficulty of operation increase
Solution Approach 1:
The patent introduces a virtual reality device as an intermediary between the surgeon and the robotic system. The VR device captures head and eye movement data, which serves as a natural mediator to control the robot's complex degrees of freedom without requiring the surgeon to directly manipulate complex mechanical interfaces.
Solution Approach 2:
The patent replaces traditional mechanical control interfaces (hand controllers, input handles) with a motion tracking system that captures biological movements (head and eye motions). This substitution transforms the control mechanism from manual mechanical manipulation to automated tracking and translation of natural human movements into robotic commands.
2Device complexity
If traditional endoscope imaging is used to provide visual feedback, then the imaging system is simple, but the surgeon cannot see the proximal end of the device and the field of view is too small to image the entire device
Solution Approach 1:
The patent adds a new dimensional perspective by enabling the surgeon to view the surgical field from multiple angles and distances simultaneously through the VR device. The system renders images that allow visualization of both the distal end at the surgical site and the proximal end outside the body, creating a multi-dimensional visual experience that overcomes the limitations of traditional single-point endoscope imaging.
3Ease of operation
If hand controllers are used to control the robotic system, then the control interface is available, but the user experiences a steep learning curve and complex operation
Solution Approach 1:
The system allows the surgeon's natural head and eye movements to directly control the robotic system without requiring learning of complex controller operations. The motion tracking system automatically captures and translates the surgeon's instinctive movements into precise robotic commands, making the system self-adapting to the user's natural behavior patterns.
4Manufacturing precision
If robotic positioning is used to increase dexterity, then the robot's precision is improved, but the footprint in the operating room and cost increase
Solution Approach 1:
The VR motion tracking device serves multiple functions: it provides immersive visualization of the surgical field, captures head movement data for positioning control, tracks eye movements for target selection, and enables natural interaction with the robotic system. This multi-functionality consolidates what would otherwise require separate systems into a single integrated platform.
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
This approach improves dexterity and reduces the complexity of controlling surgical robots by allowing intuitive target selection and movement through virtual reality-based motion detection, enhancing usability and precision in confined surgical spaces.
Implementation Method 1
a VR tracking system integrated into the HMD device and configured to determine head motion and/or eye movement
Data Source
AI summary
A control unit is provided for a surgical robot system, including a robot configured to operate an end-effector in a surgical site of a patient. The control unit includes a processor configured to transmit acquired live images of a patient, received from an image acquisition device, to a virtual reality (VR) device for display; to receive input data from the VR device, including tracking data from a VR tracking system of the VR device based on a user's response to the live images displayed on a viewer of the display unit of the VR device; to process the input data received from the VR device to determine a target in the patient; to determine a path for the end-effector to reach the target based upon the live images and the processed input data; and to transmit control signals to cause the robot to guide the end-effector to the target via the determined path.