Anthropomorphic Medical Robot Arm Movement Inhibitors
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Solution Overview
Problem
Existing anthropomorphic medical robot arms lack intuitive and predictable movement control, leading to potential collisions with staff or devices due to unrestricted functional working ranges, which complicates user training and safety in medical settings.
Innovation Solution
The robot arm is designed with movement inhibitors that restrict its joints to mimic the range of motion of a human arm, using a combination of brakes, drive means, and sensors to provide haptic feedback and allow only functionally possible movements, enabling intuitive control and safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot arm uses its overall functionally possible range of movement, then the working range is maximized, but the movements become unpredictable and may collide with staff or devices
Solution Approach 1:
The patent changes the movement parameters of the robot arm by implementing software-based restrictions that limit joint angles to ranges comparable to human arm anatomy. This transforms the robot's movement characteristics from fully autonomous unrestricted motion to anthropomorphically constrained motion, making movements predictable while maintaining sufficient working range for surgical applications
2Ease of operation
If the robot arm restricts its range of movement to mimic human arm limits, then the ease of operation is improved, but the functionally possible working range is reduced
Solution Approach 1:
The patent applies partial action by implementing movement restrictions only in specific joint angle ranges that correspond to human arm limitations, while allowing the robot to access positions that are functionally possible but beyond human capability. This selective restriction provides intuitive control for common movements while preserving extended working range for specialized surgical tasks
Data Source
AI summary
An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.