Robotic Surgical Arm Control With Force-Guided Return
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Solution Overview
Problem
Existing robotic surgical systems lack the ability to easily return a robot arm to a normal region when it moves out of the normal region, with existing feedback methods only providing warnings without guiding the operator to correct the arm's position.
Innovation Solution
A robotic surgical system with a control device that sets a plane when the operation unit is moved out of the normal region, applying a force to the operation unit to intuitively guide the operator in returning the robot arm to the normal region.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If auditory, optical, or tactile feedback is provided to warn the operator when the robot arm moves out of the normal region, then the operator is notified of the abnormal position, but the operator lacks intuitive guidance on how to return the robot arm to the normal region
Solution Approach 1:
The system implements force feedback through the drive mechanism that applies a restoring force to the operation unit when the robot arm is in an abnormal region. This tactile feedback provides the operator with intuitive guidance on the direction and magnitude of correction needed, enabling easy return to the normal region while maintaining safety
Solution Approach 2:
The drive mechanism acts as an intermediary between the control device and the operation unit, translating control signals into physical force applied to the operation unit. This intermediary component enables the transmission of guiding force that helps the operator return the robot arm to the normal region
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
Enables the robot arm to be easily returned to the normal region by providing intuitive feedback through applied force, enhancing operational control and safety.
Implementation Method 1
control the drive to apply a force to the operation unit when the operation unit crosses the plane
Data Source
AI summary
A robotic surgical system includes a surgical robot including a robot arm to allow a surgical instrument to be attached thereto, an operation apparatus including an operation unit to receive an operation from an operator, the operation unit including a drive to assist the operator in performing the operation, the operation apparatus being configured to operate the surgical robot, and a control device configured or programmed to set a plane when the operation unit is moved such that the robot arm is attempting to move out of a normal region, and control the drive to apply a force to the operation unit when the operation unit crosses the plane.