Surgical Robot Coordinate Alignment for Accurate Remote Manipulation
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Solution Overview
Problem
Surgical robots often fail to accurately perform the intended operations due to mechanical constraints and discrepancies between the intended movement by the surgical operator and the actual movement of the slave robot, leading to inaccuracies and inefficiencies in remote surgery.
Innovation Solution
A method and apparatus for driving a surgical robot system that involves acquiring reference information from both the first and second robots, determining the relative position relationship between them, and performing coordinate system transformations to ensure accurate alignment and movement of surgical instruments based on user input, using reference information collection apparatuses oriented to the surgical space's ceiling and employing algorithms like the 8-point algorithm and singular value decomposition for precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If remote manipulation through master-slave robot system is used, then surgical operations can be performed remotely with potential precision advantages, but mechanical constraints cause discrepancies between intended movement and actual robot movement
Solution Approach 1:
The patent implements a feedback mechanism by acquiring reference information from both master and slave robots about the same reference object, determining relative position relationships, and using this information to transform coordinate systems. This allows the system to continuously monitor and correct discrepancies between intended and actual movements, ensuring precise control despite mechanical constraints.
Solution Approach 2:
The patent introduces reference information collection apparatuses and coordinate transformation algorithms as intermediaries between the master robot control and slave robot execution. These intermediaries process the discrepancy between intended and actual movements by calculating relative positions and transforming coordinate systems, thereby mediating the mechanical constraint issue.
2Device complexity
If mechanical constraints are present in the robot system, then the robot structure can be simplified, but the slave robot cannot perform operations exactly as intended by the surgical operator
Solution Approach 1:
The patent replaces mechanical precision requirements with computational precision. Instead of relying on complex mechanical linkages to achieve precise movements, the system uses coordinate transformation algorithms and reference information processing to achieve the same result, allowing simpler mechanical structures while maintaining high operation precision.
3Measurement precision
If coordinate system transformation is performed to align master and slave robot frames, then movement accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent performs preliminary action by acquiring reference information from both robots before executing the coordinate transformation. By first establishing the relative position relationship through reference objects, the system prepares all necessary transformation data in advance, which simplifies the actual transformation computation and improves alignment accuracy.
Data Source
AI summary
Provided is a method for driving a surgical robot system including a first robot and a second robot. The method includes: acquiring first reference information for a reference object from a first reference information collection apparatus included in the first robot; acquiring second reference information for the reference object from a second reference information collection apparatus included in the second robot; and determining relative position relationship between the first robot and the second robot based on the first reference information and the second reference information.