Medical Collaborative Robot Arm with Excess Degrees of Freedom for Surgeon Access
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Solution Overview
Problem
Current medical collaborative robots face challenges in safe and intuitive interaction with surgeons due to geometric obstructions caused by robotic arms, leading to unintentional movements and inadequate control during surgical procedures.
Innovation Solution
The implementation of input and detection means on specific points of the robotic arm, such as joints, allows for controlled movement without changing the end effector's position, utilizing the robotic arm's excess degrees of freedom to maintain access and safety, with features like pressure-sensitive buttons and distance sensors for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robotic arm is positioned in the surgical field to perform surgical procedures, then surgical precision and automation are improved, but geometric obstructions are caused that block the surgeon's field of vision and access area
Solution Approach 1:
The robotic arm is designed with dynamic repositioning capability, allowing it to move between different positions during the surgical procedure. The arm can be positioned in the surgical field during surgery and then retracted or repositioned when the surgeon needs access, enabling both automated surgery and manual intervention without permanent obstruction
Solution Approach 2:
The robotic system is divided into separable components including the robotic arm, end effector, and base. This segmentation allows the robotic arm to be independently positioned and repositioned, enabling it to clear the surgical field when needed while maintaining its surgical capabilities when required
2Measurement precision
If torque sensors are incorporated in each joint to measure and control forces, then control precision is improved, but unintentional movements occur when forces are applied to the robotic arm during surgery
Solution Approach 1:
A control algorithm acts as an intermediary between the torque sensors and the robotic arm actuators. The algorithm processes the torque measurements and determines appropriate responses, filtering out unintentional forces while responding to deliberate surgical actions, thus maintaining stability while preserving control precision
Solution Approach 2:
The system implements feedback control where torque measurements from the sensors are continuously monitored and used to adjust robotic arm movements. This feedback mechanism allows the system to distinguish between intentional surgical forces and accidental contacts, maintaining reliability while utilizing precise measurement data
3Ease of operation
If the robotic arm is moved to improve surgeon access, then ease of operation is improved, but the end effector position and pose may change inadequately controlled
Solution Approach 1:
The robotic arm is designed with multiple degrees of freedom that enable it to perform multiple functions: maintaining end effector position during surgery and repositioning to clear the surgical field when needed. This multi-functionality allows the system to switch between surgical precision mode and access clearance mode
4Ease of operation
If the robotic arm structure is simplified for easier operation, then ease of operation is improved, but the number of degrees of freedom is reduced leading to inadequate control
Solution Approach 1:
The system dynamically adjusts operational parameters including the active degrees of freedom based on the surgical task requirements. During precision surgery, more degrees of freedom are utilized for fine control, while during repositioning maneuvers, fewer degrees of freedom are actively controlled, simplifying operation when appropriate
Data Source
AI summary
A medical collaborative robot, control method, and computer-readable storage medium can be used for actuating a medical end effector during a surgical operation. The robot includes a robot base as a local connection point for the robot; a moving robotic arm connected to the robot base that has more degrees of freedom in the axis space than degrees of freedom for manipulating; an end effector connected to the robotic arm, in particular to a terminal side of the robotic arm; and a control unit adapted to control and actuate at least the robotic arm. At least one input device and/or detector is arranged on the robotic arm. The control unit, when an object is input or detected, is adapted to control the robotic arm via the control unit in such a way that when the robotic arm moves, the end effector maintains its position, in particular its pose.