Robotic Arm Boundary-Guided Motion for Smooth Collision Avoidance
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Solution Overview
Problem
Existing robotic medical systems face challenges in controlling robotic arms to avoid collisions while maintaining motion constraints, which can lead to jerky movements and safety issues during medical procedures.
Innovation Solution
The system employs a robotic arm with a processor and computer-readable memory to guide movement along a collision boundary, providing haptic feedback and adjusting velocity to prevent collisions and respect constraints such as remote center of motion, joint velocity, and instrument wrist range of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic arm is blocked or halted to prevent collisions with objects, then collision safety is improved, but motion control smoothness deteriorates causing jerky movements
Solution Approach 1:
The system dynamically adjusts the robotic arm's velocity based on real-time proximity to collision boundaries. Instead of static blocking, the arm receives saturation warnings and velocity reductions when approaching boundaries, enabling continuous adaptive motion control that maintains smooth operation while preventing collisions
Solution Approach 2:
The system implements a feedback mechanism where the robotic arm's position is continuously monitored against predefined collision boundaries. When the arm approaches a boundary, the system provides saturation warnings and adjusts velocity accordingly, creating a closed-loop control system that maintains both safety and motion smoothness
2Productivity
If the robotic arm moves quickly to complete procedures efficiently, then productivity is improved, but collision risk increases
Solution Approach 1:
The robotic arm's velocity is dynamically adjusted based on real-time position feedback. The system allows high-speed movement in safe zones to maintain productivity, while automatically reducing velocity when approaching collision boundaries, thus balancing efficiency with collision avoidance
Solution Approach 2:
The system changes the velocity parameter dynamically based on the robotic arm's proximity to collision boundaries. By adjusting this critical parameter in real-time, the system maintains high productivity during safe operations while ensuring collision avoidance when boundaries are approached
Data Source
AI summary
Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.