Surgical Robot Arm Motion Control With Axial and Spheric Modes
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Solution Overview
Problem
Conventional surgical robot systems lack flexibility and safety in the operation of their mechanical arms due to unclear control logic and poor safety performance.
Innovation Solution
A surgical robot control method and system that includes a master control module, interaction module, and multiple motion modules, enabling flexible switching between motion modes such as free, autonomous, axial, fine-adjustment, and spheric motions, with safety features like emergency stop, obstacle collision evasion, and trajectory monitoring to ensure secure operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional control logic arithmetic systems are used in surgical robots, then the system structure is simple, but the operation flexibility is insufficient and safety performance is poor
Solution Approach 1:
The control system is divided into multiple independent control logic arithmetic systems, each responsible for specific control functions. This segmentation allows the system to achieve complex multi-mode motion control capabilities while maintaining manageable complexity through modular design, directly resolving the contradiction between operation flexibility and device complexity.
2Adaptability or versatility
If multiple motion modes are implemented for mechanical arm control, then the adaptability to different clinical scenarios is improved, but the control logic complexity increases
Solution Approach 1:
The control system dynamically switches between multiple motion modes (free motion, autonomous motion, axial motion, fine-adjustment motion, and spheric motion) based on real-time surgical requirements. This dynamic adaptability allows the mechanical arm to optimize its behavior for different clinical scenarios without requiring a permanently complex control structure, resolving the contradiction between motion mode adaptability and control logic complexity.
3Reliability
If safety features like emergency stop and obstacle collision evasion are added, then the safety performance is improved, but the system complexity increases
Solution Approach 1:
The control logic arithmetic systems incorporate preliminary safety checks and obstacle detection mechanisms that continuously monitor the surgical environment before and during mechanical arm operation. By performing safety verification in advance and maintaining continuous monitoring, the system achieves high safety performance through integrated control logic rather than adding separate complex safety subsystems, thus resolving the contradiction between safety performance and system complexity.
Data Source
AI summary
Disclosed are a control method for a terminal adapter of a mechanical arm, a surgical robot system, and computer-readable storage medium. The control method includes acquiring a first path, the first path passing through a second target point and a second craniotomy point, and the terminal adapter being located at a third anchor point, and the first path passing through the third anchor point, the second craniotomy point, and the second target point in sequence; and obtaining a position command, and controlling the terminal adapter to move along a first plane or a first spherical surface in which the third anchor point is located according to the position command, wherein the first plane is perpendicular to the first path.