In September 2023, the Raytoderm MAX series, a special optical positioning sensor for surgical navigation/robotics independently developed by iResearchMedix, was officially launched. With its excellent characteristics such as high precision, high stability, wide range, and light weight, it has been tested and recognized by dozens of domestic surgical robot companies in just a few months, and has been successfully integrated into the whole machine system. This core positioning product that breaks the monopoly of foreign countries has been highly praised by the business community and technical experts.
Founded in 2016, AeriMedix Medical Technology (Beijing) Co., Ltd. is a national high-tech enterprise, specializing in the research and development, production and sales of medical core sensors and digital diagnosis and treatment equipment series products, providing a full range of intelligent surgical integration solutions around intelligent digital diagnosis and treatment equipment such as surgical robots and medical imaging equipment.
As early as 2006, the scientific research team of Beijing Institute of Technology, which incubated ARIMED, undertook the national 863 project to apply optical positioning, augmented reality visualization and other technologies to the medical clinical field. However, since 2018, the transformation of medical research has faced commercial difficulties - the United States and other Western countries have taken restrictions on the supply of high-tech to China. With nearly 20 years of profound technical accumulation in the field of optoelectronics, from product algorithm, structural design, optical system design to optical system processing technology, etc., the scientific research team has overcome a series of core technologies such as medical-grade electromagnetic compatibility, temperature difference drift-free, anti-vibration, jitter suppression, etc., and finally successfully developed the core components of tracking and positioning that can be localized to replace global monopolies. In terms of the performance of core indicators such as dynamic response, it has been surpassed.
1. Special requirements for optical positioning sensors for surgical navigation/robots
1. Guaranteed positioning accuracy: Surgical navigation/robotic systems need to be able to provide very high positioning accuracy. In civilian scenarios such as vehicles, the accuracy of tracking and positioning components is usually at the centimeter level or millimeter level, but in medical scenarios, especially in surgery, the diameter of the arterial blood vessels of the normal human body is only 2mm~3mm, and the wall thickness is 1mm~2mm, which requires the binocular vision positioning equipment to control the error at the sub-millimeter level, so that the doctor can accurately operate during the operation. As the most critical part of the system accuracy assurance, the test positioning accuracy of the optical positioning sensor itself should be strictly controlled at 0.1-0.2mm.
2. Strong anti-interference: In the operating room environment, there will be various interference factors, such as lights, metal instruments, smoke, etc., especially the interference of electromagnetic waves between electronic equipment. It is necessary to have good anti-interference performance against these unique interferences to ensure the accuracy of positioning. Among them, whether it can pass EMC testing (Electromagnetic Compatibility) is the core requirement to ensure that medical equipment works normally in the electromagnetic environment.
3. Stable temperature drift control:
For navigation robots that require high-precision measurements, temperature drift is a factor that must be considered. The surgical operation has high requirements for the stability of accuracy, and it is necessary to quickly reach the stable state of equipment measurement, and the temperature drift will lead to a large error in the measurement results due to long-term surgical work. 4. Wide range of lateral tracking span: The patient in the operation is usually lying on the operating table, and considering the operation space of tracking instruments and robotic arms, the wider the lateral span of the optical tracking range, the more ideal, especially in large operations such as joints and spine.
5. High stability of static positioning:
The static positioning stability of the surgical navigation robot refers to the precise stability of the robot at a specified position in a stationary state, which is usually used to describe the fluctuation of the robot to the preset position coordinates when it does not receive any movement instructions. This performance is very important for the surgical navigation robot, because it determines whether the robotic arm can stop accurately in the predetermined position, so as to ensure the smooth progress of the operation. It is usually required that the runout amplitude of the position coordinate value is less than 0.5mm in the 3-minute measurement time.
6. Lightweighting:
The optical camera of the surgical navigation robot system is mounted on an adjustable arm, and the lighter the weight of the camera, the less nodding effect of the arm will be, and the more stable the positioning accuracy will be. At the same time, the lighter the weight, the higher the integration of the components, and the fewer sources of error interference caused by the deformation of internal components.
7. Sufficient Frame Rate:
The surgical process often requires fast response, especially the follow-up function of the robotic arm, which has the characteristics of fast response to ensure the smooth progress of the operation, and the generally accepted requirement in the industry is that the frame rate cannot be lower than 40 Hz.
2. REYODERM Max Optical Positioning SensorRETODERM MAX is an optical positioning sensing system tailored for minimally invasive surgical navigation and other application scenarios, which uses binocular vision for tracking and positioning. The self-developed system is built based on the FPGA technology platform, which has the advantages of sub-millimeter high precision, high stability, large range, and light weight, and is mostly suitable for orthopedics, puncture and other surgical navigation or robots. 1. Core parameters
*Volumetric positioning accuracy: At 20°C, based on the average value of a single marker over the entire measurement volume of the CMM, using the sample.
2. 识别范围:950mm-2400mm
3. Key features:
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High Accuracy:
Sub-millimeter positioning accuracy, accurate real-time calculation of tool posture;
The volumetric positioning accuracy can reach 0.12mm (RMS) to ensure that the accuracy of the navigation system meets the surgical requirements;
The fluctuation range of static accuracy does not exceed 0.02mm, which is far lower than the 0.1mm range of similar products in the market, which is very conducive to the real-time control of the robotic arm;
Tracking multiple objects at the same time still guarantees high accuracy.
- Strong stability: overcome the temperature drift: overcome the key technologies such as temperature control, heat dissipation control, and high-temperature resistant structure design of the positioning system, and the working temperature range is +10~+40°C. Anti-electromagnetic interference: meet the electromagnetic compatibility requirements of active medical devices and effectively ensure the reliability of the system. Anti-vibration: Rugged, low-power hardware design. Lightweight structure: 1.45 kg, the lightest weight on the market, low power consumption, high integration, and improved equipment stability.
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Widescreen tracking range:
The ultra-wide tracking span of 1720 mm (2.4m distance) is 10% higher than that of similar products, fully covering the surgical area, and easily realizing navigation tools and patient position tracking.
- Customized tools and services: customization of calibration accessories and precision test tooling, software technology design and development to provide customized options, one-stop customized positioning robot solutions.
4. Qualifications and Certifications:
It has quality management system certification, UDEM certification, electromagnetic compatibility and other test reports.
In 2023, it will obtain the Beijing New Technology and New Product Certification Certificate.
3. Expand the application 1. Wide range of applications: Medical-surgical navigation/robotics: Precise positioning and tracking for minimally invasive surgical procedures. The patient's image data is registered with the real posture, the sub-millimeter surgical instruments are tracked and displayed in real time during the operation, and the robotic arm is integrated for precise operation. Scientific research - sports tracking: It integrates functions such as visual perception, target recognition and positioning, and key feature extraction to accurately measure and analyze the movement status and behavior of athletes' targets in three-dimensional space in real time, and visualize the movement trajectory of sports targets. Industry-visual positioning: It is used in manufacturing, chemical, electronics, logistics and other industrial industries, and can be combined with robots to locate and orient high-precision moving objects in a small range in scenarios such as palletizing, welding, assembly, and inspection. Digitalization of teaching-intelligent physical training: Comprehensively use artificial intelligence, machine vision, big data and other technologies to realize the digital intelligence of physical training, teaching, and evaluation, open up the data silos of physical education disciplines, and support physical education in the new era.
2. Complete supporting products:
3. Abundant product portfolioReVision® SE Optical Positioning Sensor: An optical positioning system for minimally invasive surgical navigation/robot suitable for small surgical spaces such as head, neck, and oral cavity. The measurement accuracy is 0.15mm RMS, the maximum measurement rate is 60Hz, it can track multiple tools with high precision at the same time, calculate the posture of multiple tools in real time, and the recognition range is 400mm-1300mm.
Rockchip positioning sensing series:
Overcome the occlusion problem of traditional optical tracking, and realize robust real-time high-precision instrument and tool tracking. Extremely low electromagnetic radiation, anti-environmental high-frequency electromagnetic interference, to ensure millimeter-level positioning accuracy. It is widely used in minimally invasive surgical navigation, motion tracking, high-precision equipment detection and other fields.