Robot Arm Datum Alignment for Multi-Robot Spatial Characterization
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Solution Overview
Problem
Existing surgical robot systems face challenges in establishing precise spatial relationships between multiple robots, which limits their flexibility and range of surgical procedures due to their bulky design and the need for cumbersome measurement methods.
Innovation Solution
A method involving a first and second robot with datums that are mated to calculate and control the spatial orientation and position of each robot relative to a reference location, using position sensors and drivers to reconfigure the arms and prevent collisions, allowing for flexible positioning and increased surgical capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical robots are positioned flexibly in the operating theatre using mobile carts and lockable wheels, then the range of surgical procedures that can be performed is increased, but the relative positions and spatial relationships between the robots become unknown and difficult to establish
Solution Approach 1:
A common coordinate system acts as an intermediary framework that allows each robot to report its position and orientation relative to a shared reference frame. This mediator enables the control system to calculate spatial relationships between robots without requiring direct measurement between them, thus maintaining flexibility while establishing precise positional knowledge.
Solution Approach 2:
The patent replaces manual measurement and physical alignment methods with an automated sensor-based system. Position sensors on each robot automatically detect and report spatial coordinates to the control system, which then computes relationships mathematically, eliminating the need for manual measurement and reducing errors.
2Measurement precision
If traditional measurement methods are used to establish spatial relationships between robots, then precise positional data can be obtained, but the process is time-consuming and prone to human error
Solution Approach 1:
Each robot is equipped with position sensors that automatically detect and report its own spatial coordinates without requiring external measurement. The robots self-characterize their environment by autonomously reporting positional data to the control system, eliminating the need for manual measurement and significantly reducing setup time.
Solution Approach 2:
Position sensors continuously provide feedback about robot locations and orientations to the control system. This real-time feedback mechanism allows the system to automatically update and maintain accurate spatial relationships without manual intervention, reducing both time and potential for human error.
3Measurement precision
If robots are mechanically attached to a common base, then spatial relationships between arms are readily established, but the systems become bulky and difficult to move into place
Solution Approach 1:
The patent divides the robotic system into independent mobile units, each with its own base and arms, rather than a single integrated system. This segmentation allows each robot to be moved independently on mobile carts, improving portability while the control system establishes spatial relationships through coordinate transformations, maintaining precision without requiring mechanical attachment.
Data Source
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AI summary
A method for characterising the environment of a robot, the robot having a base, a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a base, a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.