Master-Slave Orientation Mapping for Misaligned Surgical Teleoperation
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Solution Overview
Problem
Current surgical systems require precise alignment between the master tool grip and the slave surgical instrument tip, leading to delays and frustration due to repeated alignment processes, especially when there are swooping orientation misalignments, which result in unexpected motion of the slave surgical instrument tip during teleoperation.
Innovation Solution
The system relaxes the alignment criteria, allowing for a larger permitted orientation misalignment between the master tool grip and the slave surgical instrument tip, using a controller that generates a desired orientation for the slave tip based on the master tool grip's orientation, ensuring intuitive motion following without unexpected rotations by compensating for misalignment through a relative rotation matrix.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system requires precise alignment between master tool grip and slave surgical instrument tip, then the orientation accuracy is improved, but the time required for alignment iterations increases and user frustration increases
Solution Approach 1:
The system changes the parameter of acceptable orientation misalignment from a strict small angle to a larger permitted misalignment. The controller allows following mode to be engaged even when the master tool grip and slave surgical instrument tip are significantly misaligned, eliminating the need for repeated alignment iterations while maintaining intuitive motion correspondence through coordinate transformation.
2Productivity
If the system allows larger orientation misalignment, then the alignment time is reduced, but the slave surgical instrument tip may exhibit unexpected motion during teleoperation
Solution Approach 1:
The controller acts as an intermediary that performs coordinate transformation between the master tool grip coordinate system and the slave surgical instrument tip coordinate system. This transformation compensates for the initial misalignment, ensuring that motions of the master tool grip are correctly mapped to the slave surgical instrument tip even when they start in misaligned orientations, thus maintaining motion intuitiveness without requiring precise initial alignment.
3Measurement precision
If the system performs repeated master-slave alignment to achieve small orientation misalignment, then the orientation precision is improved, but the number of alignment iterations increases and user frustration increases
Solution Approach 1:
The system extracts the requirement for precise orientation alignment from the master-slave alignment process. By removing the constraint that demands small orientation misalignment, the system eliminates the need for repeated alignment iterations. The controller directly engages following mode with the current misaligned state, simplifying the alignment process while maintaining operational accuracy through real-time coordinate transformation.
Data Source
AI summary
A system includes an input control, an instrument, a memory storing instructions, and one or more processors coupled to the memory. A first axis of a first coordinate frame is defined along a length of the input control and is associated with an orientation of the input control. A second axis of a second coordinate frame is defined along a length of the instrument and is associated with an orientation of the instrument. When executing the instructions, the one or more processors perform steps including, while in a following state, receiving a first command corresponding to a rotation of the input control about the first axis, in response to the first command, generating a second command to rotate the instrument around the second axis without rotating the instrument around any axis orthogonal to the second axis, and controlling movement of the instrument according to the second command.