Surgical Robot Arm Transfer Pose Control
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Solution Overview
Problem
There is a need to improve the safety and ease-of-use of computer-assisted surgical systems, particularly in transferring robotic arms from a mounting surface to a mobile cart for storage and transport.
Innovation Solution
A method for transferring a robotic arm from a mounting surface to a mobile cart involves tracking the location of the mobile cart relative to the robotic arm using a motion tracking system and controlling the robotic arm to move into a pose that facilitates transfer based on the tracked location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic arm is manually transferred from the mounting surface to the mobile cart, then the transfer process is simple in structure, but the safety and ease-of-use are reduced
Solution Approach 1:
The robotic arm performs the transfer operation autonomously using its own actuators and control system. The system tracks the cart location, calculates the required pose, and executes the movement without human intervention, making the system serve itself in the transfer task.
Solution Approach 2:
The motion tracking system continuously monitors the location of the mobile cart and provides real-time feedback to the control system. This feedback loop enables the robotic arm to adjust its pose dynamically to facilitate safe and accurate transfer to the moving cart.
2Productivity
If the robotic arm is transferred without automated control, then the system complexity is low, but the operational efficiency and error reduction are limited
Solution Approach 1:
The patent replaces manual mechanical transfer operations with an automated control system that uses motion tracking and computer-controlled actuation. This substitution of mechanical/manual processes with automated control enhances operational efficiency and precision.
Solution Approach 2:
The motion tracking system serves as an intermediary between the robotic arm and the mobile cart, enabling the control system to understand the cart's location and calculate the appropriate robotic arm pose for transfer, thereby mediating the transfer process.
3Measurement precision
If the robotic arm moves to track the cart location, then the transfer accuracy is improved, but the time required for positioning may increase
Solution Approach 1:
The system performs preliminary tracking of the mobile cart location before the actual transfer operation begins. This advance knowledge of cart position allows the robotic arm to plan and execute its movement more efficiently, reducing positioning time while maintaining accuracy.
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 method enhances the safety and ease-of-use of computer-assisted surgical systems by streamlining the transfer process of robotic arms, improving operational efficiency and reducing the risk of errors.
Implementation Method 1
tracking the location of the mobile cart relative to the robotic arm using a motion tracking system
Data Source
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AI summary
Methods and systems for controlling a robotic arm include tracking a motion of a handheld device using a motion tracking system, and controlling a robotic arm to adjust at least one of a position and an orientation of an end effector of the robotic arm based on the tracked motion of the handheld device. Further embodiments include methods and systems for transferring a robotic arm from a mounting surface to a mobile cart that include tracking the location of the mobile cart relative to the robotic arm using a motion tracking system, and controlling the robotic arm to move the arm into a pose that facilitates transferring the robotic arm from the mounting surface to the mobile cart based on the tracked location of the mobile cart.