Protection system for feeding back collision state of mechanical arm of surgical robot in real time

By employing a combination of multimodal sensing, dynamic boundary generation, and admittance-impedance control, the high risk of robotic arm collisions during urological surgeries has been addressed, achieving real-time and compliant protection and improving surgical safety and smoothness.

CN121196744AInactive Publication Date: 2025-12-26QILU HOSPITAL(QINGDAO) CHEELOO COLLEGE OF MEDICINE SHANDONG UNIV
2 Cites 0 Cited by

Patent Information

Application Number
CN202511693625.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-11-18
Publication Date
2025-12-26
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

Existing urological surgical robots face a high risk of collisions with their robotic arms within narrow body cavities due to delayed perception, rigid control, and difficulty in achieving precise real-time collision detection and compliant protection.

Method used

A multimodal sensing module is used to collect information from the robotic arm in real time. Combined with a dynamic safety boundary generation module and an admittance-impedance composite control algorithm, motion correction is calculated by a central decision and control module, and collision status is fed back in real time by a human-machine collaborative feedback module.

Benefits of technology

It achieves multi-dimensional perception of collision status, dynamically adjusts safety boundaries, and the robotic arm exhibits compliance, reducing the impact of sudden stops and improving the smoothness and safety of surgery.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

The invention relates to the technical field of medical robots, in particular to a protection system for feeding back the collision state of a mechanical arm of a surgical robot in real time, and the system comprises a multi-mode sensing module, a dynamic safety boundary generation module, a central decision and control module and a man-machine cooperative feedback module. Surgical environment data are collected in real time through a force and torque sensor and an intracavity pressure sensor, active obstacle avoidance and flexible yielding of a mechanical arm are achieved based on an admittance-impedance composite control algorithm, and a virtual clamp is adjusted in a self-adaptive mode according to the real-time pressure data in combination with a dynamic safety boundary technology. And the risk of collision between the mechanical arm and tissues and between the mechanical arm and instruments in the urinary surgery is effectively solved. The system has the advantages of being comprehensive in perception, timely in response and smooth in control, and the safety of urinary surgery such as prostatic resection and partial kidney resection is remarkably improved.
Need to check novelty before this filing date? Find Prior Art