Robotic Arm Force Sensing for Intuitive Manual Manipulation
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Solution Overview
Problem
Existing robotic medical systems require operators to manually transition robotic arms from a position control mode to a manual manipulation mode by reaching a fixed input control, which is inconvenient and increases the risk of collisions and operator errors during setup, and accidental contact with undocked arms poses safety risks during surgery.
Innovation Solution
A sensor architecture with distributed sensors on the robotic arm detects operator interactions and computes intent to activate manual manipulation modes intelligently, allowing transition from position control to manual modes like admittance or impedance modes based on sensor data, reducing operational burden and enhancing safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator manually manipulates robotic arms during setup, then the robotic arm can be positioned to desired configuration, but the operator must reach for input control which increases operational burden and collision risks
Solution Approach 1:
The robotic arm system automatically detects operator interaction through distributed sensors and self-transitions to manual manipulation mode without requiring the operator to reach for separate controls. The system serves itself by autonomously interpreting sensor data and activating the appropriate control mode based on detected contact forces.
Solution Approach 2:
The patent replaces the mechanical action of reaching for and pressing a physical button with a sensor-based detection system. Distributed force sensors detect contact forces on the robotic arm, and the control system translates these mechanical interactions into mode transitions, eliminating the need for separate manual control activation.
2Ease of operation
If the operator moves around the operating room to reach input control, then manual manipulation mode can be activated, but the setup process becomes time-consuming and risky
Solution Approach 1:
The system continuously monitors sensor data and automatically activates manual manipulation mode when operator contact is detected, eliminating the time delay associated with the operator moving to reach controls. The system serves itself by real-time detection and automatic mode transition.
Solution Approach 2:
Distributed force sensors are pre-positioned on the robotic arm to detect operator contact before the operator needs to activate manual mode. The system is prepared in advance with sensors that can immediately detect and respond to contact forces, eliminating setup delays.
3Adaptability or versatility
If distributed sensors are placed on robotic arm, then operator interaction can be detected intuitively, but device complexity increases
Solution Approach 1:
The distributed force sensors serve multiple functions: detecting operator contact for mode activation, measuring contact forces during surgery, and providing tactile feedback about arm position. This multi-functionality justifies the added complexity by eliminating separate control mechanisms.
Solution Approach 2:
The sensor architecture acts as an intermediary between the operator's natural physical interactions and the robotic system's control modes. Rather than requiring direct operator intervention with buttons or switches, the sensors mediate by translating physical contact into system responses.
Data Source
AI summary
Robotic medical systems capable of manual manipulation are described. A robotic medical system can include a robotic arm and a sensor architecture. The sensor architecture can include one or more non-joint based sensors that are positioned to detect a first force exerted on the robotic arm. The robotic medical system can be configured to determine whether sensor data received from the sensor architecture meets first criteria. For example, the first criteria can be met in accordance with a determination that the first force exceeds a first threshold force. The robotic medical system can be configured to, in accordance with a determination that the first criteria are met, transition the robotic arm from a position control mode to a manual manipulation mode.