Surgical Robot Arm Synchronization During Bed Posture Changes
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Solution Overview
Problem
Current methods for controlling a mechanical arm of a surgical robot require disassembly and reassembly when adjusting the patient's body posture, leading to complex and time-consuming operations, increased anesthesia time, and potential patient danger.
Innovation Solution
A method and device that synchronize the mechanical arms of a surgical robot with the movement of a surgical bed by real-time detection and calculation of offsets and joint readings, ensuring continuous operation without disassembly, maintaining trocar connection, and avoiding tissue injury.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the mechanical arm and trocar are disassembled and reassembled when adjusting patient posture, then the surgical bed can be repositioned, but the operation becomes complicated and time-consuming
Solution Approach 1:
The system dynamically adjusts the mechanical arm's position and orientation in real-time as the surgical bed moves, rather than requiring static reassembly. The controller continuously receives bed position data and automatically recalculates and executes the mechanical arm's new configuration, making the system adaptive to continuous movement rather than discrete repositioning steps
Solution Approach 2:
The patent replaces manual mechanical disassembly and reassembly operations with an automated control system that uses sensors, controllers, and algorithms to manage the mechanical arm's repositioning. The system substitutes human-operated mechanical coupling/decoupling with electronic control signals that automatically adjust joint angles and arm positions
2Adaptability or versatility
If the mechanical arm and trocar are disassembled and reassembled when adjusting patient posture, then the surgical bed can be repositioned, but the anesthesia time increases which brings danger to the patient
Solution Approach 1:
The system maintains continuous surgical operation without interruption during bed repositioning. The mechanical arm remains connected to the trocar throughout the movement, and the controller ensures continuous tracking and adjustment, eliminating the need to stop the surgical procedure for disassembly and reassembly operations
Solution Approach 2:
The system performs preliminary calculations of the mechanical arm's target position and orientation before the bed actually moves to the new position. The controller pre-computes the required joint angle adjustments based on anticipated bed movement, allowing the mechanical arm to be ready for immediate repositioning without delay when the bed reaches its new configuration
3Adaptability or versatility
If the mechanical arm and trocar are disassembled and reassembled when adjusting patient posture, then the surgical bed can be repositioned, but the visual field offset occurs
Solution Approach 1:
The system uses a feedback mechanism where sensors continuously monitor the surgical bed's actual position and orientation, and this information is fed back to the controller. The controller compares the actual bed position with the target position and automatically adjusts the mechanical arm's configuration to compensate for any deviations, maintaining precise visual field alignment throughout the repositioning process
Solution Approach 2:
The patent addresses visual field alignment by introducing computational and control system dimensions to the problem. Rather than relying solely on physical mechanical alignment, the system uses software algorithms to calculate and compensate for positional offsets in three-dimensional space, maintaining visual field accuracy through mathematical transformation and coordinate system adjustment
Data Source
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AI summary
The method includes: synchronously calculating offsets of a first mechanical arm, a second mechanical arm and an endoscopy mechanical arm corresponding to a change of posture of the surgical bed when the change of posture of the surgical bed is detected in real time; calculating target joint readings of each of the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm based on the offsets; adjusting in real time the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm, based on the calculated target joint readings. The present application acquires the joint readings of the mechanical arm of the surgical robot with information about a change of posture of the surgical bed so as to achieve the purpose of synchronizing the mechanical arm with the change of posture of the surgical bed.