Surgical Robotic Arm Admittance Control for Precise Alignment
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Solution Overview
Problem
Current surgical robotic systems lack intuitive control methods for aligning and positioning robotic arms during medical procedures, particularly in minimally invasive and endoscopic procedures, which can lead to cumbersome operations and reduced precision.
Innovation Solution
A system comprising a robotic arm with torque sensors and motors, along with a processor and memory, that determines forces applied to the arm, adjusts its position based on target resistance parameters, and allows for admittance control mode operation, enabling users to control the arm's movement by applying forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual repositioning of the robotic arm is used for alignment, then the system provides positional information, but the operation becomes cumbersome and precision is reduced
Solution Approach 1:
The patent replaces manual mechanical repositioning with an admittance control system that uses torque sensors to detect forces applied by the operator and automatically adjusts the robotic arm's position. This substitution of mechanical manual operation with a sensor-based control system resolves the contradiction by providing both ease of operation (through intuitive force-based control) and alignment precision (through automated sensor-guided positioning).
Solution Approach 2:
The patent implements feedback through torque sensors that continuously monitor forces applied to the robotic arm during alignment. The system uses this feedback to dynamically adjust the arm's position, providing both ease of operation (the operator feels resistance corresponding to positioning accuracy) and precision (the feedback loop ensures accurate alignment). This feedback mechanism directly addresses the contradiction between manual operation ease and alignment precision.
2Productivity
If traditional control methods are used, then the robotic arm can be positioned, but operator fatigue increases and procedural efficiency decreases
Solution Approach 1:
The patent enables the robotic arm to serve itself during positioning by using its own torque sensors to detect applied forces and automatically adjust its position. This self-service capability eliminates the need for continuous manual micro-adjustments, reducing operator fatigue while improving procedural efficiency. The system essentially controls itself based on operator intent rather than requiring constant active control.
Solution Approach 2:
The patent replaces traditional mechanical control mechanisms with an admittance control system that uses torque sensing and automated motor adjustment. This substitution reduces operator fatigue by eliminating the physical effort required for precise positioning while maintaining high procedural efficiency through automated, force-based control.
3Ease of operation
If force-based control is implemented, then intuitive control is achieved, but system complexity increases
Solution Approach 1:
The patent achieves intuitive force-based control by making the motor serve multiple functions: both actuation and sensing. The torque sensor integrated into the motor allows the same component to both move the robotic arm and detect forces applied to it. This multi-functionality provides intuitive control without adding separate sensing hardware, thereby limiting the increase in system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution provides intuitive and precise control of robotic arms, reducing operator fatigue and improving procedural efficiency by allowing direct force-based control, enhancing alignment and positioning accuracy in medical procedures.
Implementation Method 1
at least one torque sensor configured to detect torque between the at least two linkages
Data Source
AI summary
Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.