Master-Slave Robotic Alignment Correction for Motion Continuity
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Solution Overview
Problem
In teleoperated robotic systems used for minimally invasive 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 adjusting alignment differences to satisfy alignment criteria through control signal transmission and enablement signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the slave instrument is repositioned and reoriented to correct misalignment, then alignment accuracy is improved, but motion continuity is disrupted
Solution Approach 1:
The system performs preliminary alignment correction by adjusting the slave base orientation before the misalignment significantly impacts surgical operations. The processor continuously monitors alignment parameters and proactively repositions the slave instrument when deviation thresholds are approached, preventing disruptive corrections during active use.
Solution Approach 2:
The alignment correction mechanism is made dynamic rather than static. The slave base orientation can be continuously adjusted during operation based on real-time alignment measurements, allowing the system to adapt to changing conditions without requiring complete motion interruption. The enablement signal dynamically controls when corrections are applied.
2Measurement precision
If the master controller actively controls orientation degrees of freedom to maintain alignment, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The system implements feedback control by continuously measuring the alignment between master and slave instruments and using this information to adjust the slave base orientation. The processor compares measured alignment parameters with desired values and automatically generates correction commands, eliminating the need for complex manual orientation control while maintaining high alignment precision.
Solution Approach 2:
The alignment correction system is self-regulating. The processor automatically detects misalignment conditions and executes corrections without requiring complex intervention from the operator. The enablement signal mechanism allows the system to self-manage when corrections are applied, reducing the burden on the master controller.
3Measurement precision
If alignment error correction is applied continuously, then alignment accuracy is maintained, but system responsiveness decreases
Solution Approach 1:
Instead of continuous correction, the system applies alignment corrections periodically based on monitored alignment parameters. The processor checks alignment at regular intervals and applies corrections only when necessary, using the enablement signal to gate correction applications. This periodic approach maintains alignment accuracy while preserving system responsiveness during normal operation.
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.