Robotic Manipulator Registration Using Sensor-Based Alignment Control
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Solution Overview
Problem
In teleoperational medical systems with independently movable manipulator assemblies, the lack of a shared reference frame complicates precise control of tools, leading to reduced procedure success and accuracy due to unknown relative positions and orientations of the manipulator assemblies.
Innovation Solution
A robotic system with separately movable bases uses sensor data from external environment detection systems to determine spatial relationships between manipulator assemblies, establishing alignment relationships and commanding motion based on input device commands to enhance control precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manipulator assemblies have separately movable bases without a shared reference frame, then the system has greater flexibility and mobility, but the relative positions and orientations between manipulator assemblies become unknown, reducing control precision
Solution Approach 1:
The patent introduces sensor intermediaries (cameras, depth sensors, time-of-flight sensors) that detect spatial relationships between manipulator assemblies. These sensors act as mediators that bridge the gap between independently movable bases, providing the control system with information about relative positions and orientations without requiring a shared physical reference frame. This allows the system to maintain both mobility and measurement precision.
2Ease of operation
If manipulator assemblies use independently movable bases, then the system complexity is reduced and ease of operation is improved, but the ability to derive relative positions using kinematic relationships is lost
Solution Approach 1:
The patent replaces the mechanical reference frame system with an optical and sensor-based registration system. Instead of relying on physical kinematic relationships between mechanically connected bases, the system uses sensors to detect spatial relationships and computationally establishes reference frames. This substitution maintains ease of operation while managing control complexity through software-based registration rather than mechanical constraints.
3Measurement precision
If a shared reference frame is used between manipulator assemblies, then relative position control is precise, but the system loses flexibility and the manipulator bases cannot be independently repositioned
Solution Approach 1:
The patent implements a dynamic registration system where reference frames are established and maintained through sensor detection rather than fixed mechanical connections. The sensor-based registration allows manipulator bases to be dynamically repositioned while the system continuously updates spatial relationships. This dynamic approach enables both precise relative position control and the flexibility to reposition bases as needed during procedures.
Data Source
AI summary
A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.