Teleoperation Frame Alignment Without Full Position Tracking
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Solution Overview
Problem
New teleoperated system architectures lack a single mechanical base common to tools and master input devices, making it difficult to determine kinematic relationships and establish effective spatial registration and control, especially when tools and master devices do not share a common mechanical base or when units are movable relative to each other.
Innovation Solution
The system employs a combination of methods such as temporary localized mechanical relationships, fixed-sensor locator systems, simultaneous localization and mapping, machine vision, optical fiber shape sensors, accelerometers, magnetometers, gyroscopes, and vibration detectors to determine complete orientation information and partial or no position information for reference frames, establishing alignment relationships between master devices, end effectors, and displays without relying on full position information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single mechanical base is used to determine kinematic relationships, then spatial registration and control are simplified, but the system lacks adaptability to new architectures where tools and master devices do not share a common base
Solution Approach 1:
The patent replaces the traditional mechanical base-based kinematic determination with sensor-based detection systems. Sensors detect positions and orientations of tools and master devices independently, and a processor computes transformation matrices to establish spatial relationships without requiring a common mechanical base, thereby enabling adaptability to diverse system architectures.
Solution Approach 2:
The patent introduces sensors and a processor as intermediary elements between the physical components (tools, master devices) and the control system. These intermediaries enable the determination of spatial relationships through detected data and computational transformation rather than direct mechanical coupling, facilitating flexibility in system configuration.
2Measurement precision
If complete position information is determined for all reference frames, then precise spatial registration is achieved, but the system complexity and computational requirements increase
Solution Approach 1:
The patent extracts only the essential information needed for control—orientation data—from the full pose (position and orientation) of reference frames. By determining complete orientation information while using less than complete position information, the system achieves sufficient spatial registration precision without the complexity of tracking all positional parameters.
Solution Approach 2:
The patent applies partial action by determining complete orientation information but less than complete position information for reference frames. This partial determination of spatial parameters provides sufficient precision for establishing control relationships while reducing the complexity and computational burden of full position tracking.
3Adaptability or versatility
If traditional kinematic methods are used, then control relationships are well-defined, but the system cannot accommodate movable units or lack of common mechanical base
Solution Approach 1:
The patent implements dynamic spatial relationship determination through continuous sensor detection and real-time computation of transformation matrices. This dynamic approach allows the system to accommodate movable units and changing configurations while maintaining reliable control relationships, as the spatial registration is continuously updated based on current sensor data rather than fixed mechanical constraints.
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 approach enables effective teleoperation by establishing intuitive control relationships between master devices and end effectors, allowing for precise movement and orientation changes without the need for precise position determination, thus improving spatial registration and control in teleoperated systems.
Implementation Method 1
optical fiber shape sensors
Implementation Method 2
accelerometers
Implementation Method 3
magnetometers
Implementation Method 4
gyroscopes
Data Source
AI summary
A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.