Robotic Arm Haptic Alignment Using Variable Resistance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing medical procedures involving robotic arms face challenges in accurately positioning these arms, especially when multiple arms need to be aligned within a small degree of tolerance, which can be difficult for users to achieve manually.
Innovation Solution
A system comprising a robotic arm and control circuitry that determines alignment positions and provides haptic feedback through varying resistance levels to assist users in aligning the robotic arm with desired positions, including alignment with other robotic arms or previous positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual alignment of robotic arms is performed, then flexibility in positioning is maintained, but alignment precision deteriorates due to difficulty in achieving accurate positioning within small tolerance degrees
Solution Approach 1:
The system employs haptic feedback through variable resistance mechanisms that provide tactile guidance to the operator. As the robotic arm approaches the alignment position, the resistance changes to indicate proximity to the target orientation, enabling precise manual alignment without requiring complex visual feedback or computational assistance.
Solution Approach 2:
A resistance mechanism acts as an intermediary between the operator's manual input and the robotic arm's movement. This intermediary provides force feedback that guides the operator's hand movements, transforming manual positioning into a precision-controlled process while maintaining operator flexibility.
2Manufacturing precision
If haptic feedback with varying resistance is provided, then alignment precision is improved, but device complexity increases due to additional control circuitry and resistance mechanisms
Solution Approach 1:
The control circuitry performs multiple functions: it monitors the robotic arm's position, calculates resistance values based on alignment requirements, and controls the resistance mechanism. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in device complexity.
Solution Approach 2:
The system dynamically adjusts the resistance parameter based on the robotic arm's position and orientation. By varying the resistance value as a function of alignment status, the system achieves precise haptic guidance without requiring complex mechanical structures, relying instead on programmable parameter changes.
3Loss of time
If automatic movement to alignment positions is implemented, then alignment time is reduced, but loss of manual control increases
Solution Approach 1:
The system dynamically switches between manual and automatic control modes based on operational needs. The haptic feedback mechanism allows the operator to maintain manual control while receiving guidance, or to release control for automatic positioning when time is critical, providing adaptive control flexibility.
Solution Approach 2:
The system pre-calculates alignment positions and prepares resistance profiles before the alignment operation begins. This preliminary preparation enables rapid automatic movement to predetermined positions while maintaining the option for manual intervention, reducing alignment time without permanently sacrificing manual control.
Data Source
AI summary
Techniques relate to aligning one or more robotic arms of a robotic system to one or more alignment positions. For example, resistance for manual movement of a robotic arm can be set based on a direction of movement of a distal end of the robotic arm with respect to one or more alignment positions. The robotic arm can provide a first amount of resistance for manual movement in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions. In some instances, the robotic arm can be automatically moved to the one or more alignment positions when the robotic arm is within a distance to the one or more alignment positions.