Hybrid Master-Slave Mapping for Surgical Robot Workspace Control

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Solution Overview

Problem

Surgical robots with multi-degree-of-freedom parallel platforms and passive arms face limitations in intraoperative movement range due to the large volume and weight of the passive arm, which restricts movement and poses safety risks, while the small working space of the multi-degree-of-freedom parallel platform restricts the robot's ability to move over a patient's body surface.

Innovation Solution

A hybrid master-slave mapping method is employed, decomposing the displacement of the robotic arm into vertical and horizontal components, controlling the multi-degree-of-freedom parallel platform and passive arm separately, allowing selective locking of joints to enhance movement range and safety.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If all joints of the passive arm are locked during surgery, then patient safety is improved, but the movement range of the surgical robot is reduced

Engineering Contradiction:

Improvepatient safetyVSAvoidmovement range

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The control system segments the passive arm's joints into locked and unlocked groups, allowing selective movement of specific joints while maintaining safety through controlled locking of critical joints

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system dynamically adjusts joint locking states during surgery, transitioning from all joints locked to selective joint unlocking, enabling the passive arm to become adaptable while maintaining safety constraints

Inventive Principle:

Principle #15Dynamics

2Area of stationary object

If the multi-degree-of-freedom parallel platform is used alone, then the working space is improved, but the ability to move over a patient's body surface is reduced

Engineering Contradiction:

Improveworking spaceVSAvoidmovement capability over patient body surface

Core Design Contradiction:

Area of stationary objectVSAdaptability or versatility

Solution Approach 1:

The system merges the multi-degree-of-freedom parallel platform with the passive arm to create a hybrid robotic arm system, combining the precision and compact workspace of the platform with the extended reach and flexibility of the passive arm

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS12528179B2Hybrid master-slave mapping method, robotic arm system, and computer device

Publication Date: 2026.01.20 NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD

AI summary

A hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm; decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane to obtain a vertical displacement position and a horizontal displacement position; determining a first control amount of a multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of a passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.