Published Technical Disclosure Archive

Enhanced Ultrasonic Robotic Surgical Navigation with Real-time Motion Artifact Compensation

Publication ID: 24-11857273_0006_PTD
Published: November 07, 2025
Category:Direct Improvements & Enhancements

Legal Citation

pr1or.art Inc., “Enhanced Ultrasonic Robotic Surgical Navigation with Real-time Motion Artifact Compensation,” Published Technical Disclosure No. 24-11857273_0006_PTD, Published November 07, 2025, available at https://archive.pr1or.art/24-11857273_0006_PTD
This technical disclosure describes improvements that would be readily apparent to a Person Having Ordinary Skill In The Art (PHOSITA) when considered in combination with the foundational architecture disclosed in U.S. Patent No. 11,857,273.

Summary of the Inventive Concept

This inventive concept enhances the original ultrasonic robotic surgical navigation system by incorporating high-frequency ultrasound transducers and real-time motion artifact compensation, providing more accurate tracking and visualization of anatomical structures during surgical procedures.

Background and Problem Solved

The original patent's ultrasonic robotic surgical navigation system has limitations in tracking pose of the end-effector and surgical instrument due to motion artifacts. This inventive concept addresses these limitations by introducing real-time motion artifact compensation, enabling more precise and efficient surgical procedures.

Detailed Description of the Inventive Concept

The enhanced system comprises a robot with a robot base, arm, and end-effector, coupled with a high-frequency ultrasound transducer. The transducer captures high-resolution ultrasound imaging data of anatomical structures during surgical procedures. At least one processor tracks the pose of the end-effector relative to the anatomical structure and adjusts the ultrasound imaging data in real-time to compensate for motion artifacts caused by the surgical instrument. Additionally, the processor can generate a 3D model of the anatomical structure in real-time and detect potential collisions between the surgical instrument and the anatomical structure.

Novelty and Inventive Step

The new claims introduce the novel feature of real-time motion artifact compensation, which is not present in the original patent. This inventive step provides a significant improvement in tracking accuracy and enables more efficient surgical procedures.

Alternative Embodiments and Variations

Alternative embodiments of the inventive concept could include different types of ultrasound transducers, such as phased arrays or curved arrays, or varying the frequency of the ultrasound signal. Additionally, the system could be adapted for use in different surgical procedures or anatomical regions.

Potential Commercial Applications and Market

The enhanced ultrasonic robotic surgical navigation system has significant commercial potential in the medical device industry, particularly in the areas of robotic-assisted surgery and minimally invasive procedures. The system's improved accuracy and efficiency could lead to increased adoption and market share in these growing markets.

CPC Classifications

SectionClassGroup
A A61 A61B34/20
A A61 A61B34/10
A A61 A61B34/30
A A61 A61B90/06
A A61 A61B2034/107
A A61 A61B2034/2048
A A61 A61B2034/2057
A A61 A61B2034/2063
A A61 A61B2034/2065
A A61 A61B2090/062
A A61 A61B2090/3925

Field of Art

Robotic surgical navigation systems, specifically ultrasound-guided robotic surgical instruments with advanced tracking and imaging capabilities. Requires expertise in robotics, medical imaging, signal processing, and surgical instrument design

Person of Ordinary Skill (PHOSITA) Profile

A biomedical engineer or robotics specialist with advanced degrees in engineering, expertise in medical device design, knowledge of ultrasound imaging technologies, and understanding of surgical navigation systems

Obviousness Rationale

A PHOSITA would recognize that enhancing the source patent's ultrasonic robotic surgical navigation system with real-time motion artifact compensation and advanced imaging techniques represents a predictable technological improvement. The proposed variations leverage known signal processing techniques and computational methods to address inherent challenges in surgical instrument tracking. These modifications would be considered routine optimization within the field of medical robotics and imaging systems.

Obvious Combinations & Variations

Source Patent Element
Ultrasound transducer coupled to surgical robot end-effector for tracking anatomical structures
PTD Variation
High-frequency ultrasound transducer with real-time motion artifact compensation
Obviousness Reasoning
Known signal processing techniques can compensate for instrument-induced motion artifacts, representing a predictable engineering solution to improve imaging accuracy
Source Patent Element
End-effector tracking system using ultrasound imaging data
PTD Variation
Real-time 3D model generation of anatomical structures during surgical procedure
Obviousness Reasoning
Computational methods for converting 2D ultrasound data into 3D models are well-established techniques in medical imaging, representing an obvious extension of existing tracking technologies
Source Patent Element
Surgical robot system with instrument guidance mechanism
PTD Variation
Collision detection between surgical instrument and anatomical structure using ultrasound imaging data
Obviousness Reasoning
Safety-oriented computational techniques for instrument tracking and potential collision prevention are standard design considerations in robotic surgical systems
Source Patent Element
Ultrasound transducer array configurations on surgical end-effector
PTD Variation
Alternative ultrasound transducer configurations like phased or curved arrays
Obviousness Reasoning
Selection of transducer array types represents a routine design choice with predictable performance characteristics known to those skilled in medical imaging
Source Patent Element
Processor-based tracking of surgical instrument pose
PTD Variation
Enhanced pose tracking with real-time imaging data adjustment
Obviousness Reasoning
Computational methods for improving tracking accuracy through dynamic data processing are standard engineering approaches in robotic navigation systems
35 U.S.C. § 103 Summary: Pursuant to 35 U.S.C. ยง 103, the variations disclosed in this publication would have been obvious to a person having ordinary skill in the art at the time of invention, with a reasonable expectation of success, when considered in light of US Patent 11857273. The proposed enhancements represent predictable technological improvements utilizing known signal processing and computational techniques within the field of robotic surgical navigation systems.

Original Patent Information

Patent NumberUS 11,857,273
TitleUltrasonic robotic surgical navigation
Assignee(s)Globus Medical, Inc.