Robotic Arm Linkage Sensing for Intuitive Manual Manipulation
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Solution Overview
Problem
Existing robotic medical systems require operators to manually transition robotic arms from position control mode to manual manipulation mode by reaching for a fixed input control, which is inconvenient and increases the risk of collisions and operator error during setup, and may lead to excessive contact forces during surgery.
Innovation Solution
A sensor architecture with distributed sensors on the robotic arm detects operator interactions and computes the intent to activate manual manipulation mode intuitively from various positions, automatically transitioning the arm to admittance or impedance mode in response to contact forces or preset thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed input control is used to activate manual manipulation mode, then the system can be controlled, but the operator convenience deteriorates and collision risk increases
Solution Approach 1:
The robotic arm automatically detects operator intent through sensors and self-transitions to manual manipulation mode without requiring the operator to reach for a separate control. The system serves itself by monitoring its own state and environment, eliminating the need for the operator to perform the activation action.
Solution Approach 2:
The patent replaces the mechanical button-pressing interaction with a sensor-based detection system. Sensors monitor operator proximity and arm position to computationally determine intent, substituting physical mechanical control with electronic sensing and automated decision-making.
2Ease of operation
If the operator moves around the operating room to reach the input control, then the control can be activated, but the risk of collision and tripping increases
Solution Approach 1:
The system monitors its own operational state and environment through sensors, automatically detecting when the operator intends to activate manual manipulation mode. This self-monitoring capability eliminates the need for the operator to leave their position and physically interact with remote controls.
Solution Approach 2:
Sensors act as intermediaries between the operator and the robotic arm control system. Instead of direct physical interaction requiring operator movement, the sensors mediate the interaction by detecting operator presence and intent, translating this information into automated control mode transitions.
3Measurement precision
If the robotic arm remains in position control mode during surgery, then precise positioning is maintained, but excessive contact force may injure the patient or personnel
Solution Approach 1:
Sensors continuously monitor the operational environment and provide feedback to the control system. When sensors detect conditions indicating potential excessive contact (such as operator presence near the arm or abnormal force conditions), the system receives feedback and automatically transitions to manual manipulation mode to prevent harm.
Solution Approach 2:
The system takes preliminary protective action by automatically transitioning to manual manipulation mode before excessive contact force can occur. The sensor-based detection system identifies potential hazardous conditions in advance and preemptively changes the control mode to prevent injury to the patient or personnel.
4Adaptability or versatility
If multiple sensors are distributed throughout the robotic arm, then operator intent can be detected from various positions, but the device complexity increases
Solution Approach 1:
The distributed sensors serve multiple functions: they detect operator proximity, monitor arm position, determine operator intent, and potentially detect abnormal operational conditions. This multi-functionality justifies the added complexity by providing versatile capabilities from a single sensor architecture.
Solution Approach 2:
The patent combines multiple sensing functions into an integrated sensor architecture that operates as a unified system. Rather than separate systems for different functions, the sensors are merged into a cohesive network that collectively monitors the operational environment and determines control mode transitions.
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.