Teleoperation Frame Registration for Flexible Master-Slave Control
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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
The system uses a control system that determines complete orientation information for reference frames but less than full position information, establishing a master/slave control relationship between the master device and the end effector using various methods such as temporary localized mechanical relationships, fixed-sensor locator systems, and machine vision systems.
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 independent mechanical bases. This reference frame enables spatial registration and kinematic relationship determination without requiring a physical mechanical base, thus maintaining system flexibility while achieving precise control alignment between master devices and slave tools.
Solution Approach 2:
The patent replaces the traditional mechanical base with a virtual reference frame system. Instead of using physical mechanical structures to define spatial relationships, the system uses mathematical coordinate transformations and sensor data to establish kinematic relationships, eliminating the need for a common mechanical base while maintaining precise control.
2Measurement precision
If complete position and orientation information is determined for all reference frames, then control precision is improved, but system complexity and computational load increase
Solution Approach 1:
The patent extracts only the essential orientation information from the full six-degree-of-freedom pose data. By separating orientation (three parameters) from position (three parameters), the system determines complete orientation information for all reference frames while obtaining only partial position information, reducing computational complexity while maintaining sufficient control precision.
Solution Approach 2:
The patent applies partial action by determining complete orientation information but only partial position information. This selective approach provides sufficient data for establishing master/slave control relationships without the computational burden of tracking all six degrees of freedom for every reference frame, achieving an optimal balance between precision and complexity.
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.