Robotic Arm Collision Avoidance Using Link Distance Prediction
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Solution Overview
Problem
Robotic arm collisions during medical procedures pose a challenge in robotic medical systems, as existing systems lack effective methods to prevent collisions between robotic arms and other objects, leading to potential damage and interruptions in workflow.
Innovation Solution
A robotic medical system is designed with a model of its links and arms, using a processor and computer-readable memory to determine distances and prevent collisions by controlling the movement of the arms based on input commands, employing cutoff and trigger distances to avoid collisions through null space motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic arms are positioned closer together to improve surgical access, then surgical versatility is improved, but collision risk increases
Solution Approach 1:
The system performs preliminary collision detection by calculating predicted positions of robotic arm links before actual movement occurs. The processor computes distances between links using a model of the robotic system, and prevents collision by blocking motion commands that would result in harmful proximity, allowing safe positioning of arms in close proximity for improved surgical access.
2Reliability
If real-time collision detection is implemented, then collision avoidance is improved, but computational complexity increases
Solution Approach 1:
The robotic arm is segmented into multiple links, and collision detection is performed by calculating distances between individual links rather than treating the entire arm as a single object. This segmentation allows for precise collision detection while maintaining computational efficiency by focusing calculations on specific link pairs that may be in harmful proximity.
3Reliability
If motion commands are blocked to prevent collision, then collision avoidance is improved, but workflow continuity deteriorates
Solution Approach 1:
The system implements feedback by continuously monitoring the positions of robotic arm links, calculating distances between them in real-time, and providing motion blocking only when harmful proximity is detected. This selective feedback mechanism prevents unnecessary interruptions to workflow while ensuring collision avoidance, maintaining both safety and productivity.
Data Source
AI summary
Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.