Mechatronic Arm Positioning via Optimization Algorithms
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Solution Overview
Problem
Current methods for aligning mechatronic articulable arms to anatomical body parts are inefficient, relying on manual adjustments and lack precision, especially in complex medical procedures where minimal operations and accurate positioning are crucial.
Innovation Solution
A computer-implemented method that uses optimization algorithms to determine the necessary adjustments to the arm segments of a mechatronic articulable arm, based on current and desired positions, mechanical properties, and boundary conditions, to achieve precise positioning with minimal movements, utilizing encoder data and navigation systems for real-time adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual adjustments are used to align the mechatronic arm, then the device complexity is reduced, but the positioning precision and efficiency deteriorate
Solution Approach 1:
The patent replaces manual mechanical adjustment with an automated computational approach. An optimization algorithm processes input data including current arm configuration, desired target position, and mechanical properties to automatically calculate optimal joint configurations, eliminating the need for manual trial-and-error positioning while achieving higher precision.
Solution Approach 2:
The system performs self-alignment through automated computation. The optimization algorithm independently processes all necessary parameters and determines the optimal arm configuration without requiring manual intervention, allowing the mechatronic arm to position itself precisely based on computational results.
2Ease of operation
If multiple manual operations are performed to position the arm segments, then the ease of operation is improved, but the productivity and time efficiency deteriorate
Solution Approach 1:
The optimization algorithm performs preliminary computation to determine the optimal sequence and magnitude of joint adjustments before physical movement occurs. By pre-calculating the exact configuration changes needed based on current arm state and target position, the system eliminates time-consuming trial adjustments and directly achieves positioning in minimal operations.
Solution Approach 2:
The system incorporates feedback loops where the optimization algorithm continuously processes current arm configuration data, compares it with the desired target position, and adjusts the computational model to converge on the optimal solution. This iterative feedback mechanism ensures rapid and accurate positioning by adapting to actual arm state in real-time.
Data Source
AI summary
A computer-implemented medical data processing method for controlling a geometric status of a mechatronic articulable arm. Current geometric status data is acquired describing a current geometric status of the mechatronic articulable arm defined by a set of current spatial relationship between connected elements of the mechatronic articulable arm. Changed geometric status data describing a changed geometric status of the mechatronic articulable arm defined by a set of changed spatial relationship between the connected elements is determined based on current device position data, the current geometric status data, changed device position data, and device definition data. Instruction data describing an instruction for changing the geometric status of the mechatronic articulable arm from the current geometric status to the changed geometric status is determined. The instruction describes changes from the current spatial relationship to the changed spatial relationship.