Telemanipulation Robot Workspace Visualization
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Solution Overview
Problem
Existing methods for setting up robotic work cells, such as those for telemanipulation robots, are cumbersome and unsuitable for flexible or medical applications where frequent reconfiguration is needed, often due to lack of information about the operating environment, like patient anatomy, and do not allow for real-time adjustment to ensure safe and effective workspace utilization.
Innovation Solution
A method that detects and displays the spatial position of delimiting structures within the workspace in real-time, allowing the telemanipulation robot's manipulator arm to be intuitively positioned and aligned with the object, using projections or augmented/virtual reality to show the reachable workspace directly on the object, enabling quick adjustment for optimal operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional trial and error or virtual reality planning methods are used to set up robotic work cells, then the robot can be positioned at planned locations, but the setup process becomes very cumbersome and lengthy, especially for medical applications requiring reconfiguration for each patient
Solution Approach 1:
The patent replaces traditional mechanical trial-and-error positioning methods with an optical/image-based system. The detection device captures images of the work cell, and the processing unit automatically calculates robot positioning based on these images, eliminating the need for physical trial-and-error adjustments and virtual reality planning.
Solution Approach 2:
The patent creates a digital copy of the work cell environment by detecting and processing images of the actual workspace. This digital representation allows the system to plan and simulate robot positioning virtually before execution, replacing time-consuming physical setup procedures.
2Adaptability or versatility
If virtual reality planning is used to simulate the work cell, then robot positioning can be planned in advance, but the method is unsuitable when information about the operating environment (e.g., patient anatomy) is unavailable or when frequent reconfiguration is needed
Solution Approach 1:
The patent implements a dynamic setup process where the detection device captures real-time images of the work cell, and the system continuously processes this data to determine optimal robot positioning. This allows the system to adapt to changing conditions (such as different patient anatomies) without requiring time-consuming virtual reality re-planning for each scenario.
3Reliability
If the robot workspace is delimited by kinematic constraints or risk structures, then safety is improved, but the accessible working space is reduced and positioning becomes more difficult
Solution Approach 1:
The patent employs feedback by detecting the actual positions of delimiting structures (such as risk structures or kinematic boundaries) in the work cell and using this information to calculate safe and optimal robot positioning. The system continuously monitors and adjusts positioning based on detected constraints, ensuring safety while maintaining operational ease.
Data Source
Figure 1
AI summary
The invention relates to a method for operating a robot comprising the steps: detecting of the spatial position and/or condition of at least one limiting structure (20, 22) that causes a kinematic limitation of the working space (16) which is reachable with an instrument (12) connected to a robot arm (10) of the telemanipulation robot; and synchronised accompanying representation of the reachable working space (16) on an object (14) to be manipulated by the instrument (12) in such a way that a change of position and/or condition of the limiting structure (20, 22) leads in real time to a change of the represented reachable working space (16).