Collaborative Robot Force Control for User Intention Adaptation

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Solution Overview

Problem

Collaborative robots in surgical environments lack advanced perception and autonomy to adapt their behavior based on the environment, task, and user intention, due to limited sensing modalities and feedback, which hinders their ability to provide intuitive assistance in complex workflows.

Innovation Solution

A system comprising a robotic arm with force/torque sensors and a neural network that analyzes temporal force/torque data to determine the user's intention and procedure state, automatically adjusting robot control parameters, such as stiffness, to adapt to different tasks like drilling through bone or tissue, and providing alerts for mode changes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If collaborative robots use limited sensing modalities to maintain simplicity, then device complexity is reduced, but perception capability and ability to determine user intention deteriorate

Engineering Contradiction:

Improvesensing modality complexityVSAvoidcontext perception capability

Core Design Contradiction:

Device complexityVSLoss of information

Solution Approach 1:

The system segments the sensing function into multiple independent force/torque sensors positioned at different locations (instrument interface, tool, robot arm). Each sensor provides specialized force data, and the system processes these segmented data streams separately before integrating them to comprehensively determine user intention and procedure state.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The force/torque sensors serve multiple functions: they detect user manipulation forces, environmental forces, tool-generated forces, and robot-generated forces simultaneously. This multi-functional sensing approach allows the system to extract various types of information (user intention, procedure state, tissue type) from a single sensing modality.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If the robot autonomously changes control parameters to adapt to user intention, then adaptability and workflow efficiency improve, but control system complexity increases

Engineering Contradiction:

Improvebehavior adaptation capabilityVSAvoidcontrol system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robot control system dynamically adjusts control parameters (stiffness, damping, control mode) in real-time based on the determined procedure state and user intention. The system transitions between different control modes (e.g., high stiffness for bone drilling, low stiffness for soft tissue hammering) to optimize performance for each specific task phase.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system implements a closed-loop feedback mechanism where force/torque sensor data continuously informs the determination of user intention and procedure state, which in turn triggers autonomous adjustments to control parameters. This feedback loop enables the robot to adapt its behavior based on real-time sensing of user actions and environmental conditions.

Inventive Principle:

Principle #23Feedback

3Manufacturing precision

If the robot provides precise force control for surgical tasks, then manufacturing precision and safety improve, but ease of operation deteriorates due to specialized control requirements

Engineering Contradiction:

Improvesurgical task precisionVSAvoidcontrol operation simplicity

Core Design Contradiction:

Manufacturing precisionVSEase of operation

Solution Approach 1:

The robot system automatically determines the appropriate control mode and parameters based on force/torque sensor data analysis of user actions and procedure state. Instead of requiring the user to manually select control modes, the system self-adjusts to provide optimal precision control for each surgical task (drilling, hammering, cutting) based on real-time sensing.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system automatically changes control parameters (stiffness, damping, force limits) based on the determined procedure state and tissue type. For example, it switches to high stiffness mode for bone drilling and low stiffness mode for soft tissue manipulation, providing precise control adapted to each specific surgical context without user intervention.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20230339109A1Automatic selection of collaborative robot control parameters based on tool and user interaction force

Publication Date: 2023.10.26 KONINKLIJKE PHILIPS NV

AI summary

A system includes: a robotic arm which has an instrument interface; a force/torque sensor for sensing forces at the instrument interface; a robot controller for controlling the robotic arm and to control a robot control parameter; and a system controller. The system controller: receives temporal force/torque data, wherein the temporal force/torque data represents the forces at the instrument interface over time during a collaborative procedure with a user; analyzes the temporal force/torque data to determine a current intention of the user and/or a state of the collaborative procedure; and causes the robot controller to control the robotic arm in a control mode which is predefined for the determined current intention of the user or state of the collaborative procedure, wherein the control mode determines the robot control parameter.