Motion-Partitioned Repositioning of Robotic Joint Sets Around Obstacles
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Solution Overview
Problem
Existing methods for repositioning computer-assisted electronic systems, such as medical robotic systems, often require multiple operators to verbally communicate and navigate around obstacles, which can be inefficient and prone to errors due to operator inexperience or distraction.
Innovation Solution
A computer-assisted system with a repositionable structure system and a control unit that determines target and current poses, calculates motion components, and partitions these components among different joint sets to achieve precise repositioning while avoiding obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple operators manually reposition the system with verbal communication, then the system can be moved, but the process is inefficient and prone to errors
Solution Approach 1:
The system performs self-repositioning through autonomous navigation capabilities. The robotic system uses onboard sensors, mapping algorithms, and path planning to automatically navigate to target locations without requiring multiple operators to manually guide it, thereby improving efficiency and reducing human error
Solution Approach 2:
The patent replaces the mechanical manual pushing and guiding of the system by operators with an automated computational control system. The control system processes sensor data, calculates optimal paths, and actuates the system's drives, substituting human physical intervention with automated mechanical control
2Ease of operation
If operators manually navigate the system, then repositioning can occur, but operator distraction from patient status reduces safety
Solution Approach 1:
The system autonomously monitors its environment using onboard sensors and automatically navigates around obstacles. This self-monitoring and self-navigation capability eliminates the need for operators to divide their attention between system control and environmental awareness, allowing them to focus on patient care while the system handles its own safety
Solution Approach 2:
The system continuously receives feedback from sensors about its environment and own position, and automatically adjusts its navigation in real-time. This closed-loop feedback system enables the system to detect and respond to obstacles autonomously, removing the safety monitoring burden from operators
3Adaptability or versatility
If the system repositions in complex environments with obstacles, then access to worksite is achieved, but collision risk increases
Solution Approach 1:
The system performs preliminary mapping of the environment before repositioning operations. By creating and storing a map of obstacles and navigable areas in advance, the system can plan safe paths and anticipate potential collision risks before they occur, enabling adaptive navigation through complex environments with reduced collision risk
Solution Approach 2:
The system uses dynamic path planning that continuously adapts to changing environmental conditions. The navigation algorithm recalculates paths in real-time based on current sensor data, allowing the system to dynamically adjust its motion to avoid obstacles while maintaining progress toward the target worksite
Data Source
AI summary
Techniques for repositioning a computer-assisted system include the following. The computer-assisted system comprises a repositionable structure system, the repositionable structure system comprising a plurality of links coupled by a plurality of joints, and a control unit communicably coupled to the repositionable structure system. The control unit is configured to: determine a target pose of a system portion of the computer-assisted system, determine a current pose of the system portion, determine a motion for the repositionable structure system based on a difference between the target pose and the current pose, the motion including a first component in a first direction, determine a partitioning of the first component into a plurality of partitions, and cause a first movement of a first joint set to achieve a first partition and a second movement of a second joint set to achieve a second partition.