Augmented Jacobian Control for Collision-Free Manipulator Motion
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Solution Overview
Problem
Existing robotic surgical systems face challenges in managing manipulator arm movements to avoid collisions and maintain desired end effector states while increasing the range of motion without increasing mechanical complexity or cost, particularly in minimally invasive procedures.
Innovation Solution
The system employs a processor to calculate joint movements using an augmented Jacobian to perform auxiliary tasks such as collision avoidance and reconfiguration within a null-space, allowing manipulator arms to move within a cone of silence and maintain a remote center pivot, while incorporating additional joints for enhanced flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional joints are incorporated to increase range of motion, then the manipulator's flexibility and range of motion are improved, but the mechanical complexity and cost increase
Solution Approach 1:
The patent replaces additional mechanical joints with a software-based control system that uses an augmented Jacobian matrix. The controller calculates auxiliary joint movements computationally to achieve the same effect as physical additional joints, thereby increasing range of motion without adding mechanical complexity.
Solution Approach 2:
The system creates a virtual model of the manipulator's kinematics through the Jacobian matrix, allowing the controller to simulate and calculate the effects of additional joints through computation rather than physical hardware. This virtual representation enables range of motion expansion without mechanical duplication.
2Adaptability or versatility
If manipulator arms are allowed to move freely to increase range of motion, then the flexibility is improved, but the risk of collisions increases
Solution Approach 1:
The augmented Jacobian control system continuously monitors manipulator positions and calculates auxiliary movements that actively prevent collisions. The controller receives feedback on current joint states and dynamically adjusts movements to maintain safety constraints while maximizing range of motion.
Solution Approach 2:
The system pre-calculates collision-free paths and auxiliary joint movements using the augmented Jacobian before executing main manipulator movements. By planning auxiliary movements in advance, the system prevents collisions before they occur while enabling broader range of motion.
3Reliability
If the Jacobian is augmented to calculate auxiliary joint movements, then collision avoidance and reconfiguration capabilities are improved, but the computational complexity increases
Solution Approach 1:
The augmented Jacobian is constructed by segmenting the control problem into main manipulator movements and auxiliary joint movements. This segmentation allows the controller to handle collision avoidance and reconfiguration as separate computational tasks, reducing overall complexity while maintaining reliability.
4Adaptability or versatility
If redundant degrees of freedom are used to enable auxiliary tasks, then the manipulator's versatility is improved, but the difficulty of controlling joint movements increases
Solution Approach 1:
The patent replaces complex manual control of redundant joints with an automated controller that uses the augmented Jacobian to calculate appropriate auxiliary movements. This substitution of mechanical/control complexity with computational algorithms simplifies operation while maintaining versatility for auxiliary tasks like collision avoidance and reconfiguration.
Data Source
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AI summary
Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.