发表机构
Seoul National University Hospital; Rosota Inc.; Seoul National University College of Medicine; Seoul National University; Institute of Convergence Medicine with Innovative Technology, Seoul National University Hospital; Eulji University College of Medicine; Chungang University（首尔大学医院; Rosota公司; 首尔大学医学院; 首尔大学; 首尔大学医院创新技术融合医学研究所; 乙支大学医学院; 中央大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对腹腔镜手术中器械尖端定位难题，提出基于UWB载波相位测距与套管针约束几何的方法，仅用距离和IMU实现高精度定位，并通过体模和活体实验验证。
AI 中文摘要
手术机器人策略需要知道每个器械的工作端相对于摄像头和其他器械的位置，然而腹腔镜手术仅提供内窥镜视频，且覆盖无菌罩的器械会遮挡其自身所有光学路径。我们仅通过距离和IMU来估计器械尖端。距离由器械手柄侧天线节点之间的超宽带载波相位测量得到：每个手持器械一个天线，内窥镜上一个天线，所有天线均位于无菌屏障之外。以内窥镜天线为参考。两个器械天线携带六个坐标，而三对天线提供三个距离，因此问题缺少三个约束，平均化无法弥补这一差距，因为缺失的是信息而非精度。载波相位每对增加一个未知数，即一个整数，使得距离仅在模lambda/2=23.1毫米下确定。套管针解决了这两个困难：每个器械杆穿过一个位置已知的端口，且其方向由机载IMU测量，因此其天线仅保留一个自由度，即插入深度。现在两个未知数面对三个距离——两个固定深度，第三个多余，该多余方程会暴露错误的整数或错误的安装偏移，而不是将其吸收。同一求解过程在内窥镜坐标系中返回两个器械尖端，无需通常整数分辨率所需的第二载波频率，因此链路从不离开单个PLL锁定。在金属器械间的11孔体模中，三个距离在35-46 Hz下保持sigma=0.10-0.33毫米，覆盖在天线上的无菌罩在光学路径会被阻断的情况下保持链路不变，且记录器被带入活体兔阑尾切除术中。
英文摘要
A surgical robot policy needs to know where each instrument's working end sits relative to the camera and to the other instrument, yet a laparoscopic operation leaves only the endoscope video, and a draped instrument hides every optical path on itself. We estimate the tool tips from distances and an IMU alone. The distances are measured by ultra-wideband carrier phase between antenna nodes on the handle side of the instruments: one per hand-held instrument, one on the endoscope, all outside the sterile barrier. Take the endoscope antenna as the reference. The two instrument antennas carry six coordinates while the three pairs give three distances, so the problem is short by three, and averaging cannot close that gap because what is missing is information, not precision. Carrier phase adds one more unknown per pair, an integer that leaves distance fixed only modulo lambda/2 = 23.1 mm. The trocar settles both difficulties: each shaft passes through a port whose position is known and whose direction the on-board IMU measures, so its antenna keeps a single degree of freedom, the insertion depth. Two unknowns now face three distances -- two fix the depths and the third is left over, and that spare equation exposes a wrong integer or a wrong mounting offset instead of absorbing it. The same solve returns both tool tips in the endoscope frame, without the second carrier frequency that integer resolution usually needs, so the link never leaves a single PLL lock. In an 11-hole phantom among metal instruments the three distances hold sigma = 0.10-0.33 mm at 35-46 Hz, a sterile drape pressed onto the antennas leaves the link unchanged where an optical path would be blocked, and the logger was carried into a live rabbit appendectomy.
CommentsSubmitted to IEEE ICRA 2027
