Teleoperation Frame Alignment for Movable Master and End Effector
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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 units are movable and lack shared kinematic data.
Innovation Solution
The system employs a control system that determines complete orientation information for reference frames while using less than full position information, utilizing 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 establish alignment relationships between master devices and end effectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single mechanical base is used to determine kinematic relationships, then spatial registration and control are simplified, but system adaptability and versatility are reduced
Solution Approach 1:
The patent introduces a common reference frame as an intermediary coordinate system that mediates between multiple movable units and the master input device. This reference frame serves as a virtual mechanical base, enabling kinematic relationship determination without requiring physical mechanical connections, thus resolving the contradiction between ease of control and system flexibility
Solution Approach 2:
The patent replaces the traditional mechanical base with a computational reference frame system. By using coordinate transformations and mathematical models instead of physical mechanical connections, the system achieves both simplified control relationships and enhanced architectural flexibility, allowing units to be movable while maintaining precise spatial registration
2Measurement precision
If complete position information is determined for all reference frames, then precise spatial control is achieved, but system complexity and measurement requirements increase
Solution Approach 1:
The patent extracts and separates the determination of position information from orientation information. By focusing on determining complete orientation information for all reference frames while obtaining position information only when necessary or available, the system achieves precise spatial control without the complexity of continuously tracking all position parameters, reducing measurement requirements while maintaining control accuracy
Solution Approach 2:
The patent implements partial position information determination by using position data only when available from sensors or when critical for control, rather than determining complete position information for all reference frames continuously. This partial action approach maintains sufficient control precision while significantly reducing system complexity and sensor requirements
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 precise and intuitive control between master devices and end effectors, maintaining alignment relationships during teleoperation by using orientation information and partial position data, even in systems without a common mechanical base, enhancing control accuracy and adaptability.
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.