Master-Slave Robot Pose Mapping for Precise Teleoperation
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Solution Overview
Problem
Medical robots require improved precision in master-slave motion control to ensure consistency between the operator's sensory intention and the actual motion of the slave tool, particularly in surgical operations, where the positions and postures of the camera and display affect the direction and distance of the slave tool's operations.
Innovation Solution
A method and system for determining the current pose of the master manipulator, calculating a target pose of the slave tool based on the master-slave pose relationship, and generating a control signal for the slave tool, utilizing sensors and driving apparatuses to enhance precision in teleoperation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motion conversion is used between master manipulator and slave tool, then the slave tool can be controlled to perform operations, but the operation precision and consistency between operator's sensory intention and actual slave tool motion deteriorate
Solution Approach 1:
The patent introduces an intermediary coordinate system transformation mechanism that maps the master manipulator's pose to the slave tool's pose through a virtual reference frame. This intermediary transformation layer resolves the inconsistency between operator sensory intention and actual slave tool motion by establishing a consistent coordinate reference, thereby improving operation precision without significantly increasing physical device complexity
Solution Approach 2:
The patent transforms the motion control problem by changing the parameter representation from direct physical motion conversion to coordinate system parameter transformation. By representing poses as coordinate parameters (position and orientation components) and transforming these parameters through mathematical relationships, the system achieves higher precision control while maintaining manageable system complexity
2Ease of operation
If the positions and postures of camera and display are adjusted, then the operator can obtain better visual feedback, but the consistency between visual feedback and actual slave tool motion deteriorates
Solution Approach 1:
The patent implements a coordinated feedback mechanism where the camera and display positions are mathematically linked to the slave tool's pose through the same coordinate transformation system. When the slave tool moves, the visual feedback (camera and display positions) is automatically updated through coordinate transformation, ensuring consistent correspondence between visual feedback and actual motion without requiring manual adjustment
Solution Approach 2:
The coordinate transformation system serves multiple functions simultaneously: it controls the slave tool's motion, updates the camera's viewing position, and adjusts the display's coordinate system. This multi-functional approach ensures that all visual feedback elements remain consistent with the slave tool's actual motion, improving both ease of operation and motion control consistency
Data Source
AI summary
A master-slave motion control method, a robot system, a device, and a storage medium are provided. The master-slave motion control method includes: determining a current pose of a master manipulator, the current pose including a current position and a current posture; determining a target pose of a slave tool based on the current pose of the master manipulator and a pose relationship between the master manipulator and the slave tool; and generating a control signal for the slave tool based on the target pose of the slave tool. Teleoperation of the slave tool by the master manipulator can be implemented, and the control precision of the teleoperation of the slave tool by the master manipulator can be improved.