Robot Arm Control for Malfunction Safety and Continuity
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Solution Overview
Problem
Current robot arm apparatuses face challenges in safely controlling motion during medical procedures, particularly when malfunctions occur, risking patient and surgeon safety due to potential collisions or interruptions in treatment.
Innovation Solution
A robot arm apparatus with a driving control unit that detects malfunctions in joint units and imposes restrictions on motion to avoid malfunctions, allowing safe continuation of medical procedures by controlling the arm unit to prevent collisions and maintain functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator is locked in place when a malfunction is detected, then the safety of the patient is improved, but the treatment must be interrupted and continuing treatment as-is becomes difficult
Solution Approach 1:
The system dynamically adjusts the motion restriction level based on the type of malfunction detected. Instead of a static locked state, the control unit implements varying degrees of motion restriction - from complete locking to partial restriction allowing controlled movement - enabling the system to adapt its safety measures to the specific malfunction condition while maintaining treatment continuity when possible
2Productivity
If the arm unit moves freely when a malfunction is detected, then treatment can continue, but there is a risk of unexpected motion causing injury to the surgeon or patient
Solution Approach 1:
The control unit preemptively applies motion restrictions to prevent potential harmful movements before they occur. By detecting malfunctions and immediately imposing appropriate restrictions on arm unit motion, the system counteracts the risk of unexpected movements that could cause collision or injury, while still allowing safe continuation of treatment
3Reliability
If a complete lock is imposed on the arm unit when malfunction is detected, then unexpected motion is prevented, but the complexity of the control system increases due to need for multiple operation states
Solution Approach 1:
The control system segments the malfunction response into distinct categories based on malfunction type, with each category having a predetermined appropriate restriction level. This segmentation allows the system to manage complexity by creating a structured framework for different safety responses rather than requiring complex real-time decision-making for every possible malfunction scenario
Data Source
AI summary
A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.