Coordinate System Transformation for Robotic Surgical Accuracy
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Solution Overview
Problem
Robotic surgical systems face challenges in accurately translating user intent due to mechanical constraints, leading to discrepancies between intended and actual movements of slave robots during remote surgery.
Innovation Solution
A method and device for generating coordinate system transformation information by calculating angle differences between preset reference and robot base coordinate systems using angle measurement dials, allowing for intuitive and accurate manipulation of surgical robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If an operator manipulates the control lever on the master robot to control the slave robot, then remote surgery is enabled with reduced bleeding and scarring, but the slave robot does not perform the desired motion due to mechanical constraints
Solution Approach 1:
A coordinate system transformation device is introduced as an intermediary between the master robot and slave robot. This device calculates transformation information between different coordinate systems to compensate for mechanical constraints, enabling the slave robot to perform motions that align with the operator's intentions despite physical limitations of the robotic arm structure.
Solution Approach 2:
The system transforms motion parameters by calculating angle differences between coordinate systems. The transformation device computes rotation angles and transformation matrices that convert the operator's control lever movements into appropriate slave robot motions, effectively changing the motion parameters to overcome mechanical constraints.
2Extent of automation
If the operator manipulates the control lever on the master robot, then remote surgery is enabled, but there is a difference between the intended movement and actual movement of the slave robot
Solution Approach 1:
The coordinate system transformation device provides feedback by continuously calculating and applying transformation information. The device receives angle information from both the master robot and slave robot, computes the necessary transformations, and adjusts the slave robot's motion commands to match the operator's intended movements, thereby improving measurement precision.
Solution Approach 2:
The transformation device acts as an intermediary that processes and reconciles the coordinate systems of the master and slave robots. It calculates transformation matrices that bridge the gap between intended and actual movements, ensuring accurate transmission of motion commands despite differences in coordinate system orientations.
3Measurement precision
If angle measurement dials are mounted on robots to obtain dial manipulation values, then coordinate system transformation information can be generated, but the device complexity increases
Solution Approach 1:
The angle measurement dials are mounted directly on the robots themselves, allowing each robot to self-measure its own angle information. This self-service approach eliminates the need for external measurement devices and reduces overall system complexity while maintaining measurement precision.
Solution Approach 2:
The angle measurement dials serve multiple functions: they provide angle information for coordinate system transformation, enable calculation of angle differences, and support the generation of transformation matrices. This multi-functionality reduces the need for additional specialized devices, thereby managing system complexity.
Data Source
AI summary
A method according to an embodiment of the present disclosure includes calculating a first angle difference between a preset reference coordinate system and a first robot base coordinate system, based on a dial manipulation value of a user obtained from a first angle measurement dial mounted on a first robot, calculating a second angle difference between the preset reference coordinate system and a second robot base coordinate system, based on a dial manipulation value of the user obtained from a second angle measurement dial mounted on a second robot, and generating coordinate system transformation information between the first robot base coordinate system and the second robot base coordinate system, based on the first angle difference and the second angle difference.