Selective Joint Floating in Computer-Assisted Systems
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Solution Overview
Problem
Existing computer-assisted devices with repositionable arms face challenges in efficiently facilitating external articulation of joints, limiting operator flexibility during setup and operation, particularly in medical procedures where precise positioning and orientation of end effectors are critical.
Innovation Solution
A computer-assisted system with a kinematic chain and a control unit that determines location information from operator interactions to selectively place joints into a floating state, allowing manual reconfiguration by releasing brakes and updating actuator commands, enabling external manipulation of the kinematic chain.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If joints are placed into floating state to facilitate external articulation, then operator flexibility and ease of manual reconfiguration is improved, but system stability and precision control deteriorates
Solution Approach 1:
The system dynamically transitions joints between locked and floating states based on operational needs. The control unit receives operator inputs and automatically places specific joints into floating state, allowing the system to adapt its rigidity characteristics in real-time rather than maintaining a static configuration throughout operation.
Solution Approach 2:
The floating state is applied selectively to specific joints rather than the entire kinematic chain. The control unit determines which joints to place into floating state based on location information from operator interaction, allowing different parts of the system to have different operational characteristics - some joints remain locked for stability while others become flexible for manual adjustment.
2Adaptability or versatility
If multiple joints are placed into floating state to enable complex manual manipulation, then adaptability and versatility is improved, but device complexity and control difficulty increases
Solution Approach 1:
The control unit automatically manages the complexity of placing multiple joints into floating state by receiving a single operator input and autonomously determining which joints require floating state. The system serves itself by translating high-level operator intent into specific joint-level control actions without requiring the operator to manually configure each joint.
Solution Approach 2:
The control unit pre-determines the appropriate joint configuration based on location information from operator interaction with the kinematic chain. By analyzing the interaction location beforehand, the system can proactively select and configure the appropriate joints for floating state, preparing the system for the intended manual manipulation before the operator actually performs it.
Data Source
AI summary
Techniques of selective joint floating in a computer-assisted system include a computer-assisted device that includes a kinematic chain including a plurality of links coupled by a plurality of joints and a control unit coupled to the kinematic chain. The kinematic chain is configured to support an end effector. The control unit is configured to determine location information for a first operator interaction with the kinematic chain, determine one or more joints to place into a floating state based on one or more parameters, and place the one or more joints into the floating state in response to determining the one or more joints. The one or more parameters being of the first operator interaction or of computer-assisted device. The one or more parameters including the location information. The plurality of joints including the one or more joints.