Redundant Robot Power and Communication for Fault-Isolated Arms
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Solution Overview
Problem
Conventional surgical robotic systems are prone to rendering robotic arms inoperable during surgery due to communication failures, which can cage the patient, necessitating mechanical bailouts that risk accidental injury, and lack redundancy in power and communication architectures to ensure fault safety.
Innovation Solution
Implement a redundant communication architecture with two independent communication controllers and a monitoring controller to ensure continuous operation in case of faults, along with a redundant power architecture using AC mains power and batteries with circuit breakers to isolate faults, allowing user-actuated switch override for local control during communication loss.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single communication controller is used in the surgical robotic system, then the device complexity is reduced, but the reliability deteriorates due to communication failures rendering arms inoperable
Solution Approach 1:
The communication controller is divided into two independent communication controllers (first and second), each capable of independently controlling the robotic arms. This segmentation ensures that if one controller fails, the other can take over, maintaining system operation continuity without requiring a completely complex redundant architecture.
Solution Approach 2:
The system performs preliminary action by establishing a monitoring mechanism that detects communication failures before they cause complete system shutdown. The monitoring controller continuously monitors the operational status of the first communication controller and prepares the second communication controller to take over, ensuring seamless failover and maintaining reliability.
2Reliability
If mechanical bailout mechanisms are added to free the patient from caged arms, then the reliability is improved, but the ease of operation deteriorates due to risk of accidental injury
Solution Approach 1:
The patent replaces mechanical bailout mechanisms with an electronic/software-based solution. The second communication controller can electronically override the mechanical locking of the robotic arms through software control, allowing the arms to be freed without physical manipulation. This substitution eliminates the risk of accidental injury associated with mechanical bailouts while maintaining fault safety.
Solution Approach 2:
The monitoring controller acts as an intermediary between the first communication controller and the second communication controller. It detects failures and coordinates the failover process, ensuring that the second controller takes over smoothly without requiring mechanical intervention. This intermediary mechanism enhances reliability while maintaining ease of operation.
3Reliability
If redundant power sources and circuit breakers are implemented, then the reliability is improved through fault isolation, but the device complexity increases
Solution Approach 1:
The power supply system is segmented into multiple independent circuit breakers (first and second circuit breakers) that can independently isolate faults. Each circuit breaker is associated with specific power sources and can be selectively activated or deactivated based on fault conditions, providing fault isolation without requiring a completely complex power architecture.
Solution Approach 2:
The circuit breakers are dynamically controlled based on operational conditions and fault detection. The monitoring controller can activate or deactivate specific circuit breakers in real-time based on the operational status of communication controllers and power sources, providing adaptive fault tolerance while maintaining system simplicity.
Data Source
AI summary
An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.