Teleoperation Frame Alignment for Master-Slave Spatial Registration

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

New teleoperated system architectures lack a single mechanical base common to the tools and master input devices, making it difficult to determine kinematic relationships and establish effective spatial registration and control.

Innovation Solution

A teleoperated system that includes an imaging device, an end effector, a display, a master input device, and a computer control system, which determines complete orientation information for reference frames but less than full position information, establishing a master/slave control relationship using this information.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a conventional teleoperated system with a common mechanical base is used, then kinematic relationships can be easily determined, but the system lacks adaptability to new architectures without a single mechanical base

Engineering Contradiction:

Improveadaptability to new system architecturesVSAvoidcomplexity of spatial registration

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent replaces the traditional mechanical base-based spatial registration system with an optical tracking system using cameras and fiducial markers. This substitution allows the system to determine spatial relationships without requiring a common mechanical base, enabling adaptability to new system architectures while maintaining the ability to establish master/slave control relationships through optical rather than mechanical means.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If complete position and orientation information is determined for all reference frames, then precise spatial registration is achieved, but the system complexity and computational load increase

Engineering Contradiction:

Improvespatial registration precisionVSAvoidcomplexity of control system

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts and determines only the essential orientation information (rotation matrices) for each reference frame rather than complete six-degree-of-freedom position and orientation data. By focusing specifically on orientation parameters needed for master/slave control alignment, the system achieves sufficient spatial registration precision while reducing computational complexity and data processing requirements.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent implements partial action by determining orientation information for reference frames selectively - specifically the orientation of the imaging device, end effector, display, and master input device - without tracking complete position data for all components. This partial determination of spatial parameters provides adequate precision for establishing control relationships while minimizing system complexity.

Inventive Principle:

Principle #16Partial or excessive action

3Adaptability or versatility

If a mechanical base is used to establish kinematic relationships, then the system structure is simple, but the system cannot accommodate modular or mobile configurations

Engineering Contradiction:

Improvecompatibility with modular architecturesVSAvoidloss of spatial relationship data

Core Design Contradiction:

Adaptability or versatilityVSLoss of information

Solution Approach 1:

The patent introduces fiducial markers as intermediary objects that mediate between different system components (imaging device, end effector, master input device, display). These markers serve as reference points that enable the optical tracking system to determine spatial relationships between components without requiring a mechanical base, thus preserving spatial relationship data while enabling modular and mobile configurations.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS12213757B2Master/slave registration and control for teleoperation

Publication Date: 2025.02.04 INTUITIVE SURGICAL OPERATIONS INC

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.