Passive Robotic Controller Recalibration for Workspace Alignment
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Solution Overview
Problem
Remotely controlled robotic systems, particularly in surgical applications, face challenges with active controllers being expensive, bulky, and prone to misalignment due to the need for servo motors, which can lead to user discomfort and errors, and passive controllers lack precise alignment mechanisms.
Innovation Solution
A system with a passive controller that includes a processor and memory configured to receive recalibration commands, allowing the control workspace to be mapped to the instrument workspace, enabling the robotic instrument to track the passive controller's position and orientation, with mechanisms like clutch, engagement, and unlock to maintain alignment and intuitive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If active controllers with servo motors are used to actively vary torque in joints, then the controller can maintain precise alignment and freeze position, but the controller becomes expensive, bulky, and less portable
Solution Approach 1:
The patent removes the active torque variation mechanism (servo motors) from the controller, extracting only the essential function of position tracking. The controller becomes a passive device that relies on software-based workspace mapping and recalibration algorithms to maintain alignment without mechanical actuators, thereby reducing complexity while preserving functional reliability
Solution Approach 2:
The patent replaces the mechanical servo motor system with a software-based control system. Instead of actively varying torque through mechanical means, the system uses computational algorithms to map the control workspace to the instrument workspace and performs recalibration through software processing of position data, substituting mechanical complexity with computational simplicity
2Reliability
If active controllers actively vary torque to prevent drift, then position can be frozen, but the controller becomes less portable and more expensive
Solution Approach 1:
The patent employs inexpensive passive controller components without expensive servo motors. The controller uses affordable sensors and processors to achieve position stability through software algorithms rather than costly mechanical actuation systems, making the device economically viable while maintaining functional reliability
Solution Approach 2:
The patent substitutes expensive mechanical torque variation systems with affordable software-based position mapping and recalibration algorithms. The controller achieves position stability through computational methods rather than costly servo mechanisms, dramatically reducing manufacturing costs while maintaining stability functionality
3Device complexity
If passive controllers are used without active torque variation, then the controller is cheaper and more portable, but alignment with the robotic instrument may drift
Solution Approach 1:
The patent implements preliminary workspace mapping that establishes the relationship between control workspace and instrument workspace before operation begins. This pre-calibration creates a foundation for accurate tracking, and the system performs periodic recalibration to correct any drift that occurs during use, ensuring alignment precision is maintained throughout operation
Solution Approach 2:
The patent employs feedback mechanisms where the controller continuously monitors its own position and the robotic instrument's position, comparing them against the mapped workspace relationship. When misalignment is detected through this feedback loop, the system automatically performs recalibration to restore accurate tracking, thereby maintaining alignment precision without requiring active torque variation
4Ease of operation
If the control workspace is mapped to the instrument workspace, then the robotic instrument can track the controller position, but misalignment may occur requiring recalibration
Solution Approach 1:
The patent implements dynamic recalibration capabilities that allow the workspace mapping to be adjusted during operation. When misalignment is detected or upon user request, the system dynamically updates the mapping parameters to restore accurate tracking, making the control system adaptable and maintaining both intuitiveness and accuracy throughout the operational lifecycle
Data Source
AI summary
An apparatus including: at least one processor; and at least one memory including computer program code, the at least one memory and computer program code configured to, with the at least one processor, cause the apparatus to: receive a recalibration command from a passive controller configured to remotely control a robotic instrument, wherein the passive controller and robotic instrument have freedom of movement within respective control and instrument workspaces, and wherein the control workspace is mapped to the instrument workspace to allow the position of the robotic instrument to track the position of the passive controller as the passive controller moves within the control workspace; and recalibrate the mapping of the control workspace to the instrument workspace in response to the recalibration command such that the current position of the passive controller corresponds to the current position of the robotic instrument.