Robotic Imaging TCP Placement on the Optical Axis
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Solution Overview
Problem
Robotic imaging systems face complexity in movement calculations due to distant reference points, leading to space consumption, collision risks, and restricted movement options, with robotic arms offering low stiffness and significant positional tolerances.
Innovation Solution
A robotic imaging system with a preset tool center point set on the optical axis or virtual axis of the imaging device, allowing relative movement calculations and reducing collision risks through offset tool center points for enhanced accessibility and imaging range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a reference point is set at a distance from the imaging device on the robotic arm assembly, then the imaging device can be moved and oriented, but the movement calculations become complex and the system consumes more space with higher collision risks
Solution Approach 1:
The patent extracts the reference point from the robotic arm assembly and places it on the imaging device itself (specifically on the optical axis). This separation eliminates the complex calculations required when the reference point is distant from the imaging device, while maintaining full movement and orientation capabilities.
Solution Approach 2:
The patent introduces a virtual reference point on the optical axis of the imaging device as an intermediary element. This virtual point serves as the new reference for movement calculations, simplifying the mathematics while preserving the ability to move and orient the imaging device freely.
2Measurement precision
If a reference point is set at a distance from the imaging device, then the imaging device can be positioned, but the robotic arm system requires more space and is prone to collisions
Solution Approach 1:
The reference point is extracted from the robotic arm structure and relocated to the imaging device. This eliminates the need for extended robotic arm movements, reducing the space required for operation and minimizing collision risks with surrounding structures.
Solution Approach 2:
Instead of moving the imaging device relative to a distant reference point on the robotic arm, the system inverts the approach by using a reference point on the imaging device itself. This reverses the traditional configuration and achieves positioning accuracy without requiring additional space.
3Ease of operation
If a reference point is set at a distance from the imaging device, then movement control is possible, but the low stiffness of the robotic arm results in considerable positional tolerances
Solution Approach 1:
The reference point is taken out from the flexible robotic arm structure and placed on the rigid imaging device. This eliminates the amplification of positioning errors that occurs when using a distant reference point on a low-stiffness robotic arm, thereby reducing positional tolerances while maintaining ease of movement control.
Solution Approach 2:
The patent substitutes the mechanical reference point on the robotic arm with a virtual reference point on the imaging device. This replacement eliminates the mechanical errors introduced by robotic arm flexibility and low stiffness, achieving higher positioning precision without compromising operational ease.
Data Source
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AI summary
The present invention relates to a robotic imaging system (1), comprising an imaging device (10) with at least one objective (11), wherein the at least one objective (11) provides an optical axis (11a) extending in a focus direction of the objective (11), a robotic device (20) connected to the imaging device (10) to move and/or orient the imaging device (10), and a control device (30) configured to set a preset tool center point (TCP) and to control the robotic device (20) to move and/or orient the imaging device (10) with respect to the preset tool center point (TCP), wherein the preset tool center point (TCP) for moving and/or orientating the imaging device (10) is on the optical axis (11a) of the at least one objective (11) or on a virtual axis (12) corresponding to an averaged vector of respective optical axes (11a) of a plurality of objectives (11) of the imaging device (10).