Operating Room Robotic Arm Motion Planning for Collision Avoidance
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Solution Overview
Problem
Current surgical systems struggle to efficiently visualize and optimize the placement of robotic arms during surgical procedures, leading to potential collisions and reduced operational efficiency.
Innovation Solution
A device and method that utilize a processor to analyze the movements of multiple robotic arms, identify candidate motions, and generate control signals to optimize arm placement and minimize interactions, thereby preventing collisions and enhancing procedural efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If multiple robotic arms are used to perform surgical procedures, then surgical capability and precision are improved, but the risk of arm collisions and operational complexity increase
Solution Approach 1:
The system performs preliminary analysis of candidate motions for robotic arms before executing surgical procedures. The processor evaluates multiple potential arm movements in advance, identifying collision risks and selecting optimal motion paths. This preliminary planning allows the system to prevent collisions before they occur while maintaining precise surgical capabilities with multiple robotic arms.
Solution Approach 2:
The system implements a feedback mechanism where the processor continuously monitors robotic arm positions and evaluates candidate motions based on real-time operational context. The system uses this feedback to dynamically adjust arm movements, selecting motions that minimize collision risks while maintaining surgical precision. The feedback loop enables adaptive collision avoidance during the procedure.
2Productivity
If multiple robotic arms operate in close proximity, then surgical efficiency is improved, but the complexity of coordinating arm movements increases
Solution Approach 1:
The system segments the coordination task by evaluating each robotic arm's candidate motions independently while considering their interactions. The processor analyzes multiple candidate motions for each arm separately, then selects combinations that achieve coordinated operation without collisions. This segmentation simplifies the overall coordination complexity while maintaining high surgical efficiency.
Solution Approach 2:
The system implements dynamic motion selection where the processor evaluates candidate motions based on real-time surgical needs and arm positions. Rather than using fixed coordination patterns, the system dynamically adapts motion selection to optimize efficiency while managing coordination complexity. This dynamic approach allows flexible adaptation to changing surgical requirements.
3Reliability
If candidate motions are evaluated to minimize arm interactions, then collision risk is reduced, but the time required for motion planning increases
Solution Approach 1:
The system evaluates multiple candidate motions for each robotic arm but selects from a limited set of promising options rather than exhaustively analyzing all possible motions. This partial evaluation approach reduces motion planning time while still identifying collision-free paths that ensure reliable operation. The system processes enough candidate motions to guarantee safety without unnecessary computational overhead.
Data Source
AI summary
Devices and method for visualizing effects of device movements in an operating room. The device may identify candidate motions of a first robotic arm configured to place a first end effector in a target end effector position internal to a patient. The device may determine, for a first candidate motion, a first number of associated interactions in which the first robotic arm and a second robotic arm will co-occupy space external to the patient. The device may determine, for a second candidate motion, a second number of associated interactions in which the first robotic arm and the second robotic arm will co-occupy space external to the patient. The device may select the first candidate motion or the second candidate motion based on the first and second number of interactions. The device may generate a control signal based on the selected candidate motion of the first robotic arm.