Medical Robot Movement Sequence Optimization
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Solution Overview
Problem
Medical robotic devices with multiple degrees of freedom face inaccuracies and unpredictable movements due to singularities, which affect their ability to achieve precise positioning during diagnostic and therapeutic procedures.
Innovation Solution
A method for optimizing the movement sequence of a medical robotic device using an evaluation criterion to select the most accurate and stable trajectory, allowing for active or passive implementation, and incorporating additional degrees of freedom through the movement of the operating table or securing rails to enhance positioning precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiaxial medical robotic devices with many degrees of freedom are used to achieve high flexibility and positional accuracy, then the device can reach various positions and orientations, but singularities occur causing significant inaccuracies and unpredictable movements
Solution Approach 1:
The system performs preliminary evaluation of multiple movement sequences before execution, predicting singularities and inaccuracies in advance. The control unit calculates expected inaccuracies for each sequence and selects the optimal path before movement begins, preventing the reliability issues that would otherwise occur during operation.
Solution Approach 2:
The system uses feedback by evaluating the actual positioning accuracy against expected inaccuracies. The control unit continuously monitors movement sequences and adjusts selection based on predicted performance, creating a closed-loop system that maintains reliability despite the complexity of multiaxial operations.
2Measurement precision
If multiple movement sequences are evaluated using an optimization criterion to select the best trajectory, then positioning accuracy is improved, but the computational complexity and time for movement planning increases
Solution Approach 1:
The system changes parameters by evaluating multiple movement sequences with different kinematic configurations and selecting based on optimization criteria. By varying the evaluation parameters (such as expected inaccuracy, singularity proximity, and trajectory efficiency), the system achieves higher positioning accuracy without requiring exhaustive computational analysis of every possible path.
3Ease of operation
If the device operates in gravity mode with active constraints allowing manual movement, then ease of operation is improved, but positioning precision may be reduced due to human factors
Solution Approach 1:
The control unit acts as an intermediary between the operator and the robotic device. It evaluates multiple movement sequences and selects the optimal one based on precision requirements, then guides the device through that sequence. This intermediary function combines the ease of manual operation with the precision of automated planning, as the system mediates between human input and precise execution.
Data Source
AI summary
The embodiments relate to a method for operating a medical robotic device with an end effector for performing a diagnostic and/or therapeutic measure, involving predetermining at least one position to be reached by the end effector, evaluating at least two movement sequences of the medical robotic device, by which the end effector reaches the respectively predetermined at least one position, using an optimization criterion to select the movement sequence with the best evaluation result as the optimum movement sequence and implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector, in order to improve the reaching of the predetermined position.