Surgical Robotic Arm Layout Initialization for Intuitive Control
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Solution Overview
Problem
Current surgical robotic systems face challenges in providing intuitive and precise control of mechanical arms within the human body, particularly in terms of flexibility and adaptability to access targets from various angles, and in efficiently translating user movements into corresponding surgical device movements.
Innovation Solution
A surgical system comprising mechanical arms with articulated limbs, an input device with corresponding articulated limbs, and a controller that maps user input movements to surgical device movements, allowing for independent bending and rotation of flexible portions to access targets from different directions, and includes sensors and processors for precise control and locking mechanisms to prevent accidental movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If mechanical arms are made more flexible with articulated limbs, then the ability to access targets from various angles is improved, but the device complexity increases
Solution Approach 1:
The mechanical arm is divided into multiple articulated limbs with sequentially coupled portions, allowing independent bending and rotation of each segment. This segmentation enables the arm to access targets from various angles while maintaining manageable complexity through modular design
Solution Approach 2:
The articulated limbs are designed with dynamic capabilities for independent bending and rotation, allowing the mechanical arm to adapt its configuration in real-time to access different targets. The controller dynamically adjusts the position and orientation of each limb segment based on surgical requirements
2Ease of operation
If the control system maps user input movements to surgical device movements, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The control system creates a virtual copy of the surgical device's articulated structure in the input device. User movements on the input device are mapped to corresponding movements of the surgical device, providing intuitive control while the controller handles the complex transformation calculations
Solution Approach 2:
The controller acts as an intermediary between the input device and the surgical device, translating user intentions into precise device movements. This intermediary layer manages the complexity of motion mapping and coordination, keeping the user interface simple while handling sophisticated control algorithms
3Reliability
If locking mechanisms are added to prevent accidental movements, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The locking mechanisms are designed to automatically engage when the articulated limbs reach desired positions, providing self-locking functionality. This reduces the need for additional active control components while ensuring safety and preventing accidental movements
Solution Approach 2:
The control system incorporates feedback mechanisms that monitor the position and status of each articulated limb segment. When proper positioning is detected, the system automatically activates locking mechanisms to maintain the configuration, providing reliable safety control through intelligent automation rather than complex mechanical overrides
Data Source
AI summary
A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.