Dynamic Virtual Collision Objects for Medical Device Motion Planning
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Solution Overview
Problem
Current collision avoidance systems for autonomous and semiautonomous electronic devices in medical settings, such as operating rooms, rely on static safety margins that do not adapt to dynamic behavior and motion goals, limiting their effectiveness in preventing collisions and optimizing device functionality.
Innovation Solution
A control unit for medical devices uses virtual collision objects (VCOs) to determine positions and adjust properties based on motion goals, exchanging geometries with other devices to plan coordinated motion and avoid collisions, allowing for dynamic adjustments in VCO size, shape, and resiliency to enhance collision avoidance and motion planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If static safety margins are used for collision avoidance, then device complexity is reduced, but collision avoidance effectiveness deteriorates due to inability to adapt to dynamic behavior
Solution Approach 1:
The patent implements dynamic virtual collision objects (VCOs) that continuously adjust their properties (size, shape, position) based on real-time device state, motion goals, and environmental factors. This dynamic adaptation allows the collision avoidance system to respond to changing conditions while maintaining manageable complexity through modular architecture and standardized VCO representations.
Solution Approach 2:
The system changes parameters of virtual collision objects dynamically, including size, shape, position, and resiliency properties. These parameter adjustments are based on device motion goals, velocity, acceleration, and environmental context, enabling adaptive collision avoidance without requiring complex rewriting of the entire control system.
2Reliability
If operators maintain suitable separation distances between devices, then collision risk is reduced, but device functionality and workspace utilization deteriorate
Solution Approach 1:
The patent introduces virtual collision objects as intermediary representations that mediate between physical devices and collision avoidance logic. These VCOs allow devices to operate closer together by providing accurate, dynamic spatial boundaries, enabling better workspace utilization while maintaining collision risk reduction through continuous virtual boundary monitoring.
3Adaptability or versatility
If static safety margins are maintained, then system simplicity is preserved, but adaptability to dynamic motion goals deteriorates
Solution Approach 1:
The virtual collision objects automatically adjust their own properties based on device state and motion goals without requiring external intervention. The system self-regulates safety margins by monitoring device velocity, acceleration, and planned motion, adjusting VCO parameters accordingly, which maintains adaptability while limiting complexity growth through autonomous operation.
4Reliability
If dynamic VCO properties are adjusted based on motion goals, then collision avoidance effectiveness is improved, but computational requirements and processing time increase
Solution Approach 1:
The system performs preliminary calculations of virtual collision object properties based on planned motion goals before execution. By pre-computing VCO parameters for anticipated device states and motion trajectories, the system reduces real-time processing requirements while maintaining collision avoidance effectiveness through advance preparation of safety parameters.
Data Source
AI summary
A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.