Enhanced Force-Sensed Surface Scanning Systems for Improved Accuracy and Efficiency

Publication ID: 24-11857379_0006_PTD

Published: October 28, 2025

Category:Direct Improvements & Enhancements

Legal Citation

pr1or.art Inc., “Enhanced Force-Sensed Surface Scanning Systems for Improved Accuracy and Efficiency,” Published Technical Disclosure No. 24-11857379_0006_PTD, Published October 28, 2025, available at https://archive.pr1or.art/24-11857379_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. 11,857,379.

Summary of the Inventive Concept

An enhanced force-sensed surface scanning system that dynamically adjusts the sampling scan path and predicts tissue deformation to improve the accuracy and efficiency of intraoperative volume model construction.

Background and Problem Solved

The original patent disclosed a force-sensed surface scanning system for registering an intraoperative surface-scanned volume model with a preoperative image-segmented volume model. However, the system had limitations in terms of accuracy and efficiency due to its inability to dynamically adjust the sampling scan path and compensate for tissue deformation. The new inventive concept addresses these limitations by introducing real-time force sensing data-based dynamic adjustments and tissue deformation prediction, enabling more accurate and efficient surface scanning.

Detailed Description of the Inventive Concept

The enhanced system comprises a surface scanning controller that dynamically adjusts the sampling scan path based on real-time force sensing data, optimizing the scanning process. The controller is further configured to predict and compensate for tissue deformation during the scanning process, improving the accuracy of the constructed intraoperative volume model. The system may also utilize machine learning algorithms to analyze the force sensing data and predict the surface deformation offset, refining the constructed model. Additionally, the robotic system may be equipped with a tactile sensor array to provide high-resolution force sensing data, enabling more accurate surface deformation offset calculations.

Novelty and Inventive Step

The new inventive concept introduces the novel feature of dynamic sampling scan path adjustment based on real-time force sensing data, which is not present in the original patent. This feature, combined with tissue deformation prediction and machine learning-based surface deformation offset calculation, provides a significant improvement in accuracy and efficiency over the original system.

Alternative Embodiments and Variations

Alternative embodiments of the inventive concept may include using different types of sensors or algorithms for force sensing and tissue deformation prediction. The system may also be adapted for use in various medical applications, such as laparoscopic or endoscopic procedures, or in non-medical fields like robotics or computer-aided design.

Potential Commercial Applications and Market

The enhanced force-sensed surface scanning system has significant commercial potential in the medical device industry, particularly in the areas of surgical navigation and intraoperative imaging. The system's improved accuracy and efficiency may also expand its market to other industries, such as robotics and computer-aided design, where precise surface scanning is crucial.

CPC Classifications

Section	Class	Group
A	A61	A61B90/03
A	A61	A61B34/20
A	A61	A61B34/30
A	A61	A61B90/06
G	G06	G06T7/10
A	A61	A61B2034/2068
A	A61	A61B2090/065
A	A61	A61B2090/378
G	G06	G06T2207/10028
G	G06	G06T2207/30004

Section 103 Obviousness Analysis (PHOSITA)

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Field of Art

Medical robotics and surgical imaging systems, specifically focused on surface scanning and volume model registration for anatomical organs, requiring expertise in robotic control systems, medical imaging, force sensing technologies, and computational modeling

Person of Ordinary Skill (PHOSITA) Profile

A biomedical engineer or robotics specialist with advanced degrees in engineering or medical imaging, experienced in robotic surgical systems, sensor integration, computational modeling, and machine learning techniques applied to medical imaging and robotic scanning

Obviousness Rationale

A PHOSITA would recognize that the PTD's dynamic sampling path adjustment and machine learning-based tissue deformation prediction are natural extensions of the source patent's force-sensing surface scanning framework. The disclosed variations represent predictable improvements using known techniques in robotic scanning and computational modeling, applying standard machine learning and sensor integration approaches to enhance the original system's accuracy and efficiency.

Obvious Combinations & Variations

Source Patent Element

Surface scanning end-effector generating force sensing data for contact with anatomical organ

PTD Variation

Adding tactile sensor array for high-resolution force sensing data and dynamic scan path adjustment

Obviousness Reasoning

Enhancing sensor resolution is a predictable design improvement using known sensor integration techniques, representing a routine optimization for a PHOSITA

Source Patent Element

Surface scanning controller defining surface deformation offset based on viscoelastic property parameters

PTD Variation

Incorporating machine learning algorithms to analyze force sensing data and predict surface deformation offset

Obviousness Reasoning

Applying machine learning to existing parametric models is a standard approach for improving predictive accuracy, representing an obvious technological progression

Source Patent Element

Constructing intraoperative volume model of anatomical organ

PTD Variation

Dynamically resizing and refining model based on real-time force sensing data and predicted deformation

Obviousness Reasoning

Adaptive model refinement is a logical extension of existing volume modeling techniques, representing a predictable solution to improving scanning accuracy

Source Patent Element

Surface scanning system for registering intraoperative and preoperative volume models

PTD Variation

Implementing machine learning-driven registration process with dynamic offset updates

Obviousness Reasoning

Integrating machine learning into registration processes is a standard approach for improving computational medical imaging techniques

Source Patent Element

Scanning robot with surface scanning capabilities

PTD Variation

Expanding system applicability to laparoscopic, endoscopic, and non-medical robotic scanning contexts

Obviousness Reasoning

Generalizing robotic scanning technologies across different domains is a predictable technological transfer recognized by a skilled practitioner

35 U.S.C. § 103 Summary: Based on the teachings of US Patent 11857379 and the published technical disclosure, a person having ordinary skill in the art would find the claimed variations obvious, as they represent predictable technological improvements using standard techniques in robotic scanning, sensor integration, and computational modeling. The disclosed variations constitute prima facie obviousness by combining known elements to yield expected results in the field of medical surface scanning systems.

Original Patent Information

Patent Number	US 11,857,379
Title	Force sensed surface scanning systems, devices, controllers and methods
Assignee(s)	Koninklijke Philips N.V.