Optical Wand for Robotic Surgery Control
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Solution Overview
Problem
Current operator interfaces for controlling robots and remote processes, such as joysticks and glove actuators, suffer from limited range of motion, accuracy issues, mechanical wear, and latency problems, especially when the operator is separated from the worksite, leading to compromised control precision and increased maintenance needs.
Innovation Solution
A method involving the active generation and detection of image patterns on a surface using a wand and a light sensor array, allowing for precise determination of the relative poses of the wand and the surface, and the projection of images to control remote processes with haptic feedback, reducing latency and improving motion compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If electro-mechanical controls such as joysticks and multiple axis hand grips are used, then real-time operator control of robots is achieved, but the range of motion is limited due to being constrained by the geometry of the control device
Solution Approach 1:
The patent replaces electro-mechanical controls (joysticks, hand grips) with an optical system consisting of a light source, light-sensitive array, and processor. The wand contains a light source that projects patterns onto a light-sensitive array, allowing detection of three-dimensional spatial position and orientation without mechanical constraints, thereby eliminating range of motion limitations imposed by physical control device geometry.
2Measurement precision
If glove actuators are used to approximate actual hand motion, then the motion of the hand is better mimicked, but accuracy regarding the motion of the instrument's working end is lacking
Solution Approach 1:
The patent replaces glove actuators with an optical detection system that directly measures the position and orientation of the wand (which represents the instrument working end) in three-dimensional space. The light source in the wand projects patterns onto a light-sensitive array, and the processor calculates precise spatial coordinates, providing accurate measurement of the instrument working end motion without relying on hand motion approximation.
Solution Approach 2:
The patent creates an optical copy of the wand's position and orientation by projecting light patterns onto a sensor array. This optical copying mechanism captures the exact spatial relationship of the instrument working end, providing accurate measurement data that is then transmitted to control the robotic instrument, ensuring fidelity between operator input and robotic output.
3Productivity
If multiple cameras are used to record hand motion, then remote operation is enabled, but accuracy and precision are compromised
Solution Approach 1:
The patent replaces multiple cameras with a self-contained optical system where the wand itself contains a light source that projects patterns onto a light-sensitive array. This eliminates the need for external cameras and complex image processing, providing direct and accurate measurement of the wand's three-dimensional position and orientation with higher precision than camera-based systems.
4Reliability
If mechanical control devices are used, then direct control is achieved, but mechanical wear and tear compromise accuracy and require maintenance
Solution Approach 1:
The patent replaces mechanical control devices with solid-state optical components. The wand contains a light source (such as an LED or laser diode) and the control system uses a light-sensitive array with electronic processing. These solid-state components have no moving parts, eliminating mechanical wear and tear, thereby maintaining control accuracy over time and reducing maintenance requirements while improving reliability.
5Adaptability or versatility
If the operator is separated from the worksite by sufficient distances, then remote control is achieved, but latency increases causing delay in transmission
Solution Approach 1:
The patent uses an optical system where light patterns are projected and detected, and position data is processed electronically. This optical-electronic system enables rapid transmission of control data with minimal processing delay, allowing remote operation with reduced latency compared to mechanical systems that require physical signal transmission through cables or mechanical linkages.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables accurate and precise control of robots and remote processes with reduced latency and maintenance requirements, allowing operators to perform tasks with greater accuracy and efficiency, even at distant locations, by using image pattern detection and projection to synchronize operator motions with robotic actions.
Implementation Method 1
detecting the image pattern on the surface of the first object
Data Source
AI summary
A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.