End Effector Position Correction Using Actuation Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control systems for end effectors in teleoperated and robotic systems struggle to accurately actuate end effectors despite variations among end effectors and over time, leading to inconsistencies in position and operation.
Innovation Solution
A system and method for actuating an end effector using a drive mechanism, determining an actuation level, adjusting a position set point based on a position offset, and actuating the end effector to the adjusted position set point, incorporating a control unit to compensate for variations and deformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional control systems are used to actuate end effectors, then the system structure is simple, but manufacturing variations and wear lead to position inaccuracies and operational inconsistencies
Solution Approach 1:
The system performs preliminary characterization of each end effector during manufacturing or initial operation to determine its specific variation parameters. This advance knowledge is stored and used to pre-calculate correction factors that compensate for manufacturing variations before the end effector is actually used in surgery, thereby achieving high position accuracy without adding real-time complexity
Solution Approach 2:
The control system continuously monitors the actual position of the end effector and compares it with the desired position. Based on this feedback, the system dynamically adjusts control signals to compensate for variations and wear, maintaining accurate positioning despite changes in the end effector's mechanical properties over time
2Reliability
If end effectors are actuated without correction, then the operation is fast and simple, but position consistency and reliability deteriorate due to variations and wear
Solution Approach 1:
Correction parameters are determined in advance during system setup or manufacturing, allowing the control system to apply pre-calculated position offsets without real-time computation delays. This ensures reliable and consistent actuation while minimizing the time required for corrections during actual surgical procedures
Solution Approach 2:
The end effector system performs self-characterization and self-correction by automatically detecting its own variations and wear patterns during operation. The control system uses this self-provided information to adjust positioning, eliminating the need for external calibration or manual intervention, thereby maintaining reliability without adding operational time
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.