Surgical Robot Control Filtering for Fault-Safe Arm Commands
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Solution Overview
Problem
Existing surgical robot systems face challenges in ensuring reliable communication and accurate command issuance among components, which can lead to severe consequences if not functioning as expected.
Innovation Solution
A control system for surgical robots that includes a main controller and a safety device to filter communications, with programmable filters that selectively block or modify messages based on predefined criteria, and an optional safety monitor to verify system operation, ensuring safe states are maintained.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a main controller is used to generate and send control signals for moving the surgical robot arm, then the surgical procedure can be performed, but there is a risk of faults in the control system that could lead to catastrophic consequences
Solution Approach 1:
A safety device is introduced as an intermediary component between the main controller and the surgical robot arm. This safety device monitors communications and control signals, filtering and verifying them before execution. The safety device acts as a mediator that can detect faults in the main controller and prevent faulty commands from reaching the robot arm, thereby reducing catastrophic consequences while maintaining surgical functionality.
2Productivity
If the surgical robot system components communicate with each other, then the system can operate, but communication faults may occur leading to severe consequences
Solution Approach 1:
The safety device implements a feedback mechanism by monitoring communications between system components and comparing them against expected parameters. When communication faults or anomalies are detected, the safety device can alert the operator or automatically intervene to prevent faulty operations. This feedback loop ensures that communication reliability is maintained while preserving system operation capability.
3Manufacturing precision
If the control system issues accurate commands based on system state and operator inputs, then surgical precision is achieved, but system complexity increases to ensure accurate command issuance
Solution Approach 1:
The control system is segmented into distinct functional components: the main controller for generating commands, the safety device for verifying and filtering commands, and the surgical robot arm for execution. This segmentation allows each component to specialize in its function, with the safety device handling verification tasks that enhance surgical precision without requiring the main controller to become overly complex.
Data Source
AI summary
A control system for controlling a surgical robot system, the surgical robot system comprising a surgical robot, the surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the control system comprising: a main controller configured to: receive communications identifying inputs from an operator of the surgical robot; generate control signals for controlling the movement of the surgical robot arm based on the inputs; and send communications to the surgical robot identifying the control signals; and a safety device situated such that communications to and from the main controller pass through the safety device, the safety device being operable to selectively filter the communications to and/or from the main controller.