Robotic Motion Control Using External Cues for Precise Positioning
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Solution Overview
Problem
The maneuverability and precise positioning of large and heavy robotic systems, such as the ROBODOC Surgical System, are hindered by the difficulty of manual steering, requiring multiple attempts to achieve the correct position and orientation for tasks like total hip arthroplasty.
Innovation Solution
A robotics system with a base, manipulator, sensors, and a drive system that converts detected external cues or disturbances into input signals to power the base, allowing for intuitive motion control, including manual and operational modes, and various velocity control options, ensuring accurate and efficient positioning and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual steering is used to position the robotic system, then the system can be moved to the surgical site, but the process is difficult and requires multiple attempts to achieve correct positioning
Solution Approach 1:
The patent replaces manual mechanical steering with an automated drive system that uses sensors to detect external cues (such as magnetic fields from a remote control device) and automatically moves the robotic base. This substitution eliminates the difficulty of manual steering and reduces positioning time by enabling precise, controlled movement without requiring multiple adjustment attempts
Solution Approach 2:
The patent introduces an intermediary control mechanism where a remote control device generates external cues (magnetic or electromagnetic fields) that the robotic system's sensors detect. This intermediary field-based communication allows intuitive control without direct mechanical contact, making the system easier to operate and more precise in positioning
2Manufacturing precision
If the robotic system is made large and heavy for surgical applications, then it can perform precise tasks, but maneuverability is reduced
Solution Approach 1:
The patent divides the robotic system into separate functional components: a mobile base with drive system and sensors, and a manipulator arm for precise tasks. The base handles movement and positioning, while the manipulator performs the precision work. This segmentation allows the base to be optimized for mobility and the manipulator for precision, resolving the contradiction between size/weight and maneuverability
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated control system that uses sensor detection of external cues to control the drive system. This substitution enables precise control of a heavy system without requiring physical manual steering, maintaining positioning precision while improving maneuverability through automated, field-based control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and efficient positioning and orientation of robotic systems, reducing the need for manual steering attempts and enhancing safety by allowing intuitive control through external disturbances, force/torque sensors, and multiple control modes.
Implementation Method 1
A sensor associated with the manipulator detects a trajectory of an external disturbance on the manipulator
Data Source
AI summary
A robotic system includes a base with a manipulator is attached to the base. At least one sensor is associated with the manipulator. The at least one sensor detects a trajectory of an external disturbance on the manipulator or an external cue from a user. A controller is provided that converts the trajectory detected by the at least one sensor to an input signal or the external cue detected by the at least one sensor to an input signal. A drive system receives the input signal, and in response to the input signal powers the base or to power the base in a trajectory corresponding to the external cue. A method for intuitive motion control of the robotic system is also provided.