Robotic Arm Instrument Engagement Verification
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Solution Overview
Problem
Existing surgical robotic systems face issues with improper engagement of surgical instruments to robotic manipulator arms, leading to potential backlash and use errors such as imprecise or improper motion and function.
Innovation Solution
The use of force and/or acceleration information from force/torque sensors and an internal inertial measurement unit to determine whether a surgical instrument or device assembly is properly engaged with the robotic manipulator arm, through monitoring load cell measurements and acceleration profiles, and providing alerts or preventing system use if engagement is unsuccessful.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If force/torque sensors and inertial measurement units are integrated into the robotic manipulator, then engagement verification capability is improved, but device complexity increases
Solution Approach 1:
The patent combines force/torque sensors and inertial measurement units into the robotic manipulator to create an integrated verification system. This merging of multiple sensing capabilities into a single system allows for comprehensive engagement verification while managing complexity through integration rather than separate systems.
Solution Approach 2:
The system uses force/torque sensors to continuously monitor engagement forces and inertial measurement units to detect acceleration changes during instrument attachment. This feedback mechanism provides real-time verification of proper engagement, enabling the system to detect and prevent improper instrument attachment through continuous monitoring of physical parameters.
2Measurement precision
If multiple sensors are used to monitor engagement, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple sensing modalities (force/torque sensing and inertial measurement) are merged into a unified verification system. This combination allows the system to cross-validate measurements and improve engagement detection accuracy by analyzing both force characteristics and acceleration profiles simultaneously.
Solution Approach 2:
The force/torque sensors and inertial measurement units serve multiple functions: they monitor engagement forces, detect acceleration during attachment, verify proper instrument positioning, and provide feedback for control system adjustments. This multi-functionality maximizes the utility of each sensor component.
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
Ensures accurate and precise engagement of surgical instruments, preventing backlash and improving the reliability and safety of surgical robotic systems by confirming proper positioning and actuation of instruments.
Implementation Method 1
force and/or acceleration information provided by force/torque sensors of a robotic system
Implementation Method 2
acceleration information provided by force/torque sensors of a robotic system
Data Source
AI summary
A robotic surgical system is configured to determine whether a surgical instrument has been properly mounted to an arm of the surgical system. As the surgical instrument is moved into engagement with the arm, a magnet on the arm exerts an attractive force on a plate on the surgical instrument. As the instrument engages to the arm, load cell measurements and inertial measurement unit (IMU) information from one or more sensors on the arm are monitored to determine the mass of the instrument as well as the acceleration of the instrument as it mates with the instrument engagement interface. The system compares the load cell measurements and IMU information with what those parameters are expected to be when a surgical device assembly or instrument of that type is mounted. If the load cell measurements and IMU information deviates from what is expected, the system provides a notification to the user and prevents use of the manipulator arm until the surgical device assembly or instrument is properly positioned.