Hand-Guided Robot Tracking With Kinematic Model Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for tracking hand-guided robots in medical minimally invasive interventions lack the necessary precision and accuracy, which is critical for the success of such procedures.
Innovation Solution
A method utilizing a kinematic and dynamic model of the manipulator, coupled with sensors to determine joint movements and calculate the absolute position of the end effector within the operational volume, allowing for precise tracking by accounting for mechanical properties like friction, flexibility, and backlash, and displaying deviation and error information to facilitate manual displacement along a target trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a software-based kinematic and dynamic model is used to determine end effector position, then tracking accuracy is improved, but computational complexity and processing time increase
Solution Approach 1:
The patent pre-calculates and stores a lookup table of transformation matrices for all possible manipulator configurations before the intervention procedure. During tracking, the system only needs to query this pre-computed table based on measured joint positions, avoiding real-time complex calculations while maintaining high accuracy through the software-based kinematic and dynamic model
Solution Approach 2:
The patent replaces complex real-time mechanical computation with a software-based approach using pre-computed lookup tables. The transformation from joint space to operational space is achieved through software lookup rather than real-time mathematical computation, substituting computational complexity with memory storage and retrieval operations
2Measurement precision
If frequent interventional imaging is performed to verify end effector position, then positioning accuracy is improved, but patient radiation exposure and procedure time increase
Solution Approach 1:
The patent implements continuous tracking feedback by measuring joint positions with sensors and using the pre-computed transformation matrices to calculate end effector position in real-time. This provides continuous positional feedback to the operator, reducing the need for frequent verification imaging and thereby reducing patient radiation exposure while maintaining positioning accuracy
Solution Approach 2:
The patent creates a virtual copy of the physical manipulator through software-based kinematic and dynamic modeling. This virtual model replicates the manipulator's position and orientation based on joint measurements, providing accurate positional information without requiring frequent physical verification through imaging, thus reducing radiation exposure
Data Source
Figure 1~2
Figure 3
Figure 4
AI summary
Method for tracking a hand-guided robot (1) comprising a control unit (14) and at least one manipulator (6) coupled to an end effector (10), in which the manipulator (6) comprises a plurality of joints (7, 8) and links (9) and the end effector (10) is manually displaceable within an operational volume (11), characterized in that the control unit (14) determines at least one movement information of each joint (7, 8) during and/or after a manual or partially manual displacement of the end effector (10), and a position and orientation information of the end effector (10) inside the operational volume (11) during and/or after the displacement of the end effector (10) using the determined movement information of each joint (7, 8) and a software-based kinematic and dynamic model of the manipulator (6) stored in a memory (16) of the control unit (14).