Robotic Manipulator Registration Using Sensor-Based Alignment
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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 sensors to determine the spatial relationship between manipulator assemblies, establishing an alignment relationship that allows for controlled motion of the second manipulator assembly in response to operator input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manipulator assemblies are made independently movable with separate bases, then adaptability and ease of repositioning are improved, but measurement precision and control accuracy deteriorate due to unknown relative positions
Solution Approach 1:
A sensor intermediary (such as a sensor fiducial marker or external sensor system) is introduced into the operating environment to mediate between manipulator assemblies. The sensor intermediary provides a common reference that enables determination of spatial relationships between independently movable manipulator bases, resolving the measurement precision issue while preserving repositioning capability
Solution Approach 2:
The patent replaces mechanical reference systems (physical connections between bases) with optical/electromagnetic sensor-based reference systems. Sensors detect spatial relationships without requiring physical coupling, allowing independent repositioning while maintaining measurement accuracy through electromagnetic field-based positioning
2Measurement precision
If a common reference frame is used for multiple manipulator assemblies, then measurement precision and control accuracy are improved, but device complexity increases due to shared mounting infrastructure
Solution Approach 1:
The reference function is extracted from the mechanical mounting infrastructure and placed into a separate, independently positionable sensor intermediary. This allows the reference frame to be established without complex shared mounting structures, reducing device complexity while maintaining control accuracy
Solution Approach 2:
The sensor intermediary serves multiple functions: it provides a common reference for spatial relationship determination, enables registration between manipulator assemblies, and facilitates coordinate transformation. This multi-functionality eliminates the need for separate reference infrastructure, reducing overall system complexity
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.