Robotic Manipulator Control Using Shape-Sensed Operator Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic medical procedure systems face challenges in accurately tracking operator controllers for precise control of medical tools, leading to potential tissue damage and increased recovery time during minimally invasive procedures.
Innovation Solution
The implementation of a teleoperational medical system that includes an operator input system with shape sensing fibers and local sensors to provide real-time position, orientation, and motion tracking of operator controllers, enabling precise control of medical tools through a control system that integrates shape information and local measurement data for improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic manipulators are used without advanced tracking systems, then the device complexity is reduced, but the measurement precision of operator controller position and orientation deteriorates
Solution Approach 1:
The shape sensing fibers are embedded within the connection structure (umbilical) that already exists between the base and input device. This nesting approach allows the tracking system to be integrated into the existing mechanical structure without adding separate external sensors or complex mounting systems, thereby improving measurement precision while minimizing additional device complexity
Solution Approach 2:
The patent replaces traditional mechanical tracking systems (such as external optical sensors or mechanical encoders) with an optical sensing system based on shape sensing fibers. This substitution uses optical principles to measure the connection structure's configuration, achieving high measurement precision while reducing mechanical complexity
2Manufacturing precision
If real-time tracking of operator controllers is implemented, then the control precision of medical tools is improved, but the loss of time for data processing increases
Solution Approach 1:
The shape sensing fibers continuously measure the connection structure's configuration in real-time as the operator moves the input device. This continuous measurement provides uninterrupted position and orientation data to the control system, ensuring control precision is maintained without time delays. The system processes data continuously rather than in discrete intervals, eliminating processing delays
Solution Approach 2:
The shape sensing fibers are pre-installed and continuously ready within the connection structure, eliminating the need for setup or activation delays. The measurement system is already in place and continuously monitoring, so data is available immediately when the operator moves the input device, reducing any potential processing time delays
3Reliability
If shape sensing fibers are integrated into the connection structure, then the reliability of position tracking is improved, but the ease of manufacture deteriorates
Solution Approach 1:
The shape sensing fibers are manufactured and integrated into the connection structure as a unified component. This nesting approach allows the sensing fibers to be embedded during the connection structure's manufacturing process, ensuring proper positioning and protection while maintaining manufacturing efficiency. The integrated design eliminates separate installation steps, improving reliability without significantly increasing manufacturing difficulty
Solution Approach 2:
The connection structure is designed as a flexible umbilical that can accommodate and protect the shape sensing fibers within its structure. This flexible shell approach allows the fibers to be integrated in a way that maintains the connection structure's flexibility and durability, making the manufacturing process manageable while ensuring reliable fiber positioning for accurate tracking
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
This solution enhances the accuracy and precision of medical tool control, reducing tissue damage and recovery time by providing highly accurate real-time tracking and motion control, applicable to both medical and non-medical contexts.
Implementation Method 1
a shape sensor system that provides shape information associated with the connection structure
Implementation Method 2
a local sensor system located at the input device that provides local measurement data of the input device
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.