Master-Slave Robotic Alignment Correction for Continuous Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In master-slave robotic systems used for laparoscopic surgery, alignment errors between the master and slave instruments can lead to suboptimal controllability due to misalignment, with existing solutions either disrupting motion or only reducing alignment errors under specific conditions.
Innovation Solution
A method and apparatus that utilize a processor to receive and generate orientation signals for the master and slave actuators, enabling remote control of the slave end effector's orientation by the master actuator, and adjust alignment differences to satisfy alignment criteria through the transmission of control signals, allowing for autonomous correction of alignment errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the slave instrument is moved to reduce misalignment, then alignment error is reduced, but motion continuity is disrupted
Solution Approach 1:
The system performs preliminary alignment correction by adjusting the slave base orientation before normal motion control is resumed. The processor calculates the alignment error and adjusts the slave base orientation proactively, allowing the slave instrument to maintain proper alignment without disrupting the continuous motion control during operation.
2Measurement precision
If the master controller actively controls orientation degrees of freedom to correct misalignment, then alignment error is reduced, but device complexity increases
Solution Approach 1:
The system implements self-service alignment correction where the processor automatically detects alignment errors between master and slave reference frames and autonomously adjusts the slave base orientation without requiring active user intervention. The master controller monitors the alignment status and automatically commands corrections, eliminating the need for complex manual orientation control mechanisms.
3Speed
If control signals are continuously transmitted from master to slave, then real-time control is maintained, but alignment errors accumulate
Solution Approach 1:
The system implements feedback control by continuously monitoring the alignment between master and slave reference frames and using this information to adjust slave base orientation. The processor receives feedback on the current alignment error and dynamically adjusts the transformation between master and slave coordinate systems, ensuring that control signals remain accurate despite continuous transmission.
Data Source
AI summary
In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.