# US 11,896,340 B2 · Robot navigation system and robot navigation method

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- Number: US 11,896,340 B2
- Document ID: US11896340B2
- Status: Granted
- Kind: B2
- Application number: 17/093,660
- Filed: 2020-11-10
- Published: 2021-05-13
- Granted: 2024-02-13
- Earliest claimed: 2019-11-12
- Assignees: National Taiwan University
- Applicants: National Taiwan University
- Inventors: Ping-Lang Yen; Tsung-Han Ho
- Web page: https://patentgrep.com/patent/US11896340B2

## CPC

- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61B 34/32: operating autonomously
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2048: {using an accelerometer or inertia sensor}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points}
- A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/372: {Details of monitor hardware}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A robot navigation system includes a handheld robot, a spatial information measuring device, a computing module and a display. The hand-held robot has a body, a tool and a movable connection mechanism. The movable connection mechanism is connected between the body and the tool, so that the tool can move relative to the body. The spatial information measuring device is configured to track the body, the tool and a target. The computing module is connected to the spatial information measuring device to obtain a plurality of relative positions between the body, the tool and the movable connection mechanism with respect to the target. The computing module calculates a guiding region according to the relative positions and mechanical parameters of the handheld robot. The display is configured to display the guiding region and the handheld robot based on the coordinate of the target.

## Claims

### Claim 1

A robot navigation method, comprising:
tracking a body, a tool and a target of a handheld robot to obtain a plurality of relative positions of the body, the tool, and a movable connection mechanism connecting the body and the tool with respect to the target;
calculating a guiding region based on a coordinate of the target, comprising:
calculating two relative speeds of the movable connection mechanism and the tool with respect to the target according to the relative positions;
selecting an optimal operation plane according to mechanical parameters of the handheld robot;
calculating the guiding region according to the relative positions and the two relative speeds of the handheld robot, wherein the guiding region is located on the optimal operation plane; and
displaying the target, the guiding region and the handheld robot on a display based on the coordinate of the target.

### Claim 2 (depends on 1)

The robot navigation method of claim 1, wherein mechanical parameters of the handheld robot comprise a position error of the movable connection mechanism, operation of calculating the guiding region based on the coordinate of the target further comprises:
establishing a coordinate conversion relation between the movable connection mechanism and the tool;
calculating a kinetic energy of the tool through the coordinate conversion relation, the kinetic energy is related to the two relative positions of the movable connection mechanism and the tool with respect to the target; and
limiting a range of the kinetic energy of the tool by a kinetic energy of the movable connection mechanism and the position error, and the guiding region is defined by the range of the kinetic energy of the tool.

### Claim 3 (depends on 1)

The robot navigation method of claim 1, wherein operation of calculating the guiding region based on the coordinate of the target further comprises:
adjusting a spin angle of the movable connection mechanism to maximize the guiding region displayed by the display.

### Claim 4 (depends on 1)

The robot navigation method of claim 1, wherein operation of displaying the target, the guiding region and the handheld robot on the display based on the coordinate of the target further comprises:
rotating the body to minimize an orientation error of the tool with respect to the target, wherein the handheld robot displayed on the display comprises the body and the tool, and an area of a representation corresponding to the body is minimized when the orientation error is minimized.

### Claim 5 (depends on 1)

The robot navigation method of claim 1, wherein operation of displaying the target, the guiding region and the handheld robot on the display based on the coordinate of the target further comprises:
rotating the body to minimize an orientation error of the tool with respect to the target, wherein the handheld robot displayed on the display comprises the body and the tool, and a thickness of a representation corresponding to the body is minimized when the orientation error is minimized.