Surgical Robot Arm Anomaly Detection for Vibration and Sensor Faults
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Solution Overview
Problem
Surgical robotic arms are inaccurate due to malfunctioning sensors, errors in control software, vibrations, and other inconsistencies, posing safety risks during precise operations like amputations and brain surgery.
Innovation Solution
A system and method that receive sensor signals from robotic arms, generate profiles, compare them to predefined signatures, and adjust operations based on detected conditions to prevent anomalies, such as vibrations or unintended forces, by disabling the arm temporarily to ensure safety and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic arms are used for surgical procedures to improve accuracy and accessibility, then patient safety and surgical precision are improved, but sensor malfunctions, control software errors, and vibrations cause inaccuracies that worsen safety and precision
Solution Approach 1:
The system performs preliminary actions by continuously monitoring sensor signals and comparing generated profiles against predefined signatures before anomalies occur. The control system detects early signs of vibrations, sensor malfunctions, or positioning errors and takes preventive measures to correct them before they compromise surgical accuracy or patient safety.
Solution Approach 2:
The system implements feedback by continuously receiving sensor signals from the robotic arm, generating profiles based on these signals, comparing them to predefined signatures, and adjusting the robotic arm's operation based on the comparison results. This closed-loop feedback mechanism ensures that any deviations from expected performance are detected and corrected in real-time, maintaining both safety and precision.
2Manufacturing precision
If robotic arms are used to perform precise surgical operations, then surgical precision is improved, but vibrations and inconsistencies adversely affect stability and positioning that worsen precision
Solution Approach 1:
The system takes preliminary action by detecting early signs of vibrations and instability through continuous sensor monitoring and profile comparison. Before vibrations can significantly affect arm stability or surgical precision, the system identifies the anomaly through signature matching and implements corrective measures to restore stability.
Solution Approach 2:
The feedback mechanism continuously monitors arm stability through sensor signals and compares profiles against signatures representing stable operation. When vibrations or instability are detected, the system provides real-time feedback to adjust the robotic arm's operation, maintaining stability and ensuring surgical precision throughout the procedure.
3Productivity
If the robotic arm operates continuously to maintain productivity, then surgical efficiency is improved, but malfunctioning sensors and control errors increase safety risks that worsen reliability
Solution Approach 1:
The system maintains continuous operation for surgical efficiency while ensuring safety through real-time feedback. Sensor signals are continuously monitored and profiles are compared against safety signatures, allowing the system to detect sensor malfunctions or control errors during operation and respond appropriately to maintain both productivity and safety.
Solution Approach 2:
The system performs preliminary safety checks by continuously comparing operational profiles against predefined safety signatures. When anomalies indicating potential safety risks are detected before they can cause harm, the system takes preliminary corrective action, allowing continuous operation to proceed safely without compromising either productivity or reliability.
Data Source
AI summary
A control method is provided to manage a surgical robot having an arm configured to hold a medical tool. The method includes receiving a set of sensor signals from sensors on the arm, generating a profile based on the set of sensor signals, comparing the profile to at least one signature, determining a state of the arm based on results of the comparison, and changing operation of the arm based on the state of the arm. The state of the arm is indicative of a predetermined condition that has occurred or will likely occur eminently. Changing operation of the arm prevents the condition from occurring or continuing. The robot arm may hold a medical tool for using during surgery or another medical procedure.