Robotic Arm Joint Adjustment Near Abnormal Operating Areas
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Solution Overview
Problem
Existing methods for adjusting robotic arms during minimally invasive surgery either require interrupting the surgery or involve complex calculations with high errors, compromising safety and reliability.
Innovation Solution
A method that determines adjustment directions and positions for redundant and task joints of a robotic arm to safely move it away from abnormal operating areas without interrupting the surgery, using modules for direction determination, position calculation, and position adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic arm is adjusted using traditional methods to move away from abnormal areas, then the robotic arm safety is improved, but the surgery must be interrupted and both operator and robotic arm need resetting
Solution Approach 1:
The system pre-calculates and stores the null space basis matrix and related transformation matrices before surgery begins. When the robotic arm enters an abnormal area, the pre-computed matrices enable immediate adjustment without interrupting surgery, as the calculation framework is already in place to rapidly determine joint adjustment directions.
Solution Approach 2:
The patent replaces traditional mechanical reset procedures with a computational control system. Instead of physically resetting the robotic arm and operator position, the system uses null space projection algorithms to mathematically compute adjustment directions that guide the robotic arm out of abnormal areas while maintaining surgical continuity.
2Reliability
If the avoidance method based on null space of velocity Jacobian is used, then the robotic arm is controlled to stay in safe area, but the calculation process becomes complex with large calculation errors and poor anti-interference ability
Solution Approach 1:
The patent segments the robotic arm control into two independent components: task joints that perform surgical operations and redundant joints that handle safety constraints. By separating the control space using null space projection, the system simplifies calculations by only computing adjustments for redundant joints while leaving task joints unaffected, thereby reducing overall computational complexity and improving numerical stability.
Solution Approach 2:
The system transforms the control problem from Cartesian space to joint space using pre-computed transformation matrices. This parameter transformation allows the use of simpler linear algebra operations (matrix multiplication and projection) instead of complex real-time optimization, significantly reducing calculation complexity and improving numerical accuracy while maintaining safety constraints.
Data Source
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Figure 3B~3D
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AI summary
Disclosed in the present application are a robotic arm adjustment method, an apparatus, an electronic device and a storage medium. The method comprises: when it is determined that a robotic arm is located within or near an abnormal operating area, determining an adjustment direction for each redundant joint of a plurality of joints of the robotic arm; on the basis of a redundant joint position of each redundant joint at the current moment and the adjustment direction of each redundant joint, determining a first adjustment position of each redundant joint at a next moment; on the basis of each first adjustment position, determining a second adjustment position of each task joint of the plurality of joints except the redundant joints; and performing position adjustment on the robotic arm on the basis of the first adjustment position of each redundant joint and the second adjustment position of each task joint.