Handheld Teleoperation Frame Mapping for Surgical Robot Alignment
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Solution Overview
Problem
In master-slave robotic systems for medical or surgical teleoperation, ensuring effective alignment between a mechanically unconstrained master device and a slave device without mechanical constraints is challenging, particularly in ensuring safety and intuitiveness during teleoperation initiation.
Innovation Solution
A method that involves detecting a local reference frame of the master device, defining and mapping equivalent reference frames, and selecting an optimal reference frame for alignment, allowing for safe and reliable alignment between the master and slave devices without imposing predetermined movements on the master device, while maintaining control and intuitiveness for the operator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mechanically constrained master console is used to ensure alignment between master and slave devices, then alignment precision and control reliability are improved, but device mobility and operator flexibility are reduced
Solution Approach 1:
The patent replaces the mechanical constraint system with a software-based reference frame alignment system. The control unit detects the pose of the master device and calculates transformation matrices to align the local reference frame of the master device with the reference frame of the slave device, eliminating the need for mechanical constraints while maintaining alignment precision.
Solution Approach 2:
The patent introduces a reference frame transformation system as an intermediary between the master and slave devices. By defining local reference frames for each device and calculating transformation matrices, the system mediates the alignment process without requiring direct mechanical coupling or constraint between the devices.
2Reliability
If motors are used to enforce orientation alignment between master and slave devices, then alignment reliability is improved, but system complexity and loss of mechanical freedom are increased
Solution Approach 1:
The patent replaces motor-driven mechanical alignment with a computational approach. The control unit detects the pose of the master device, defines local reference frames, and calculates transformation matrices to achieve alignment. This software-based solution eliminates motors and mechanical alignment mechanisms, reducing system complexity while maintaining alignment reliability.
Solution Approach 2:
The patent creates a virtual copy of the alignment relationship through reference frame transformation. Instead of physically copying the master device orientation to the slave device using motors, the system copies the orientation information through mathematical transformation matrices that map the local reference frame of the master device to the reference frame of the slave device.
3Ease of operation
If the master device is mechanically unconstrained and hand-held, then device mobility and operator flexibility are improved, but alignment precision and control reliability are reduced
Solution Approach 1:
The patent uses a detection and computational system to replace mechanical constraint-based alignment. The control unit detects the pose of the hand-held master device and uses reference frame transformation to achieve precise alignment, allowing the device to remain mechanically unconstrained and mobile while maintaining alignment precision through software processing.
4Measurement precision
If reference frame transformation and optimization are performed, then alignment precision and trajectory optimization are improved, but computational time and processing complexity are increased
Solution Approach 1:
The patent performs preliminary definition of local reference frames and pre-calculates transformation matrices during the alignment phase. By establishing the reference frame relationship before actual teleoperation begins, the system prepares the alignment computation in advance, reducing real-time computational requirements during operation.
Solution Approach 2:
The patent implements a dynamic reference frame transformation system that adapts to the pose of the master device. The control unit continuously detects the master device pose and updates the transformation matrices accordingly, allowing the system to maintain alignment precision while optimizing computational efficiency through adaptive, real-time updates rather than continuous recalculation.
Data Source
AI summary
A method initiates and/or prepares and/or conducts teleoperation by a robotic system for medical or surgical teleoperation. The robotic system includes a master device, which is hand-held, mechanically unconstrained and moveable by an operator, and a slave device including a surgical instrument controlled by the master device. The master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis of the master device. A local reference frame of the master device and the related longitudinal axis is detected, with respect to a main reference frame of the master device workspace; then, functionally equivalent local reference frames are detected. A corresponding target reference frame is mapped in a workspace of the slave device. An operating reference frame is detected according to criteria for optimization of the trajectory of the slave device. A robotic system for medical or surgical teleoperation is control led by the control method.