Robotic Arm Load Threshold Control for Safer Laparoscopy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems in medical procedures face challenges in safely managing external loads to prevent injury to patients, particularly during laparoscopic procedures where excessive forces can be exerted by robotic arms, leading to potential trauma.
Innovation Solution
The system dynamically adjusts external load thresholds for robotic arms based on their pose, gravity, inertia, and maximum safe load capability, using sensors like torque sensors and end effector load cells to prevent excessive movement and incorporates adjustable remote centers of motion to reduce forces on the patient's body wall.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed external load threshold is used for robotic arms, then the system structure is simple, but patient safety is compromised due to inability to adapt to varying gravitational and inertial loads during different poses
Solution Approach 1:
The patent implements dynamic adjustment of external load thresholds based on real-time robotic arm pose, gravity vectors, and inertial properties. The threshold is recalculated during operation to reflect current loading conditions, transforming a static safety parameter into a dynamic one that adapts to varying surgical scenarios and patient anatomy.
Solution Approach 2:
The system modifies the external load threshold parameter dynamically by incorporating changes in robotic arm configuration, gravitational effects, and inertial characteristics. This parameter adaptation allows the safety threshold to reflect actual physical conditions rather than relying on conservative fixed values.
2Reliability
If dynamic adjustment of external load thresholds is implemented, then patient safety is improved, but computational complexity and processing requirements increase
Solution Approach 1:
The system continuously monitors robotic arm pose, calculates gravitational and inertial loads, and feeds this information back to dynamically adjust the external load threshold. This closed-loop feedback mechanism ensures safety parameters remain current with actual operating conditions while automating the computational process.
Solution Approach 2:
The robotic system automatically performs calculations of gravitational and inertial loads and self-adjusts its external load threshold without requiring manual intervention. The system serves its own safety parameter optimization needs through integrated sensing, computation, and control.
3Reliability
If external load thresholds are set conservatively low to prevent patient injury, then patient safety is improved, but workflow efficiency decreases due to frequent stoppages
Solution Approach 1:
By making the external load threshold dynamic rather than statically conservative, the system can permit higher loads when physically safe based on real-time pose and loading conditions. This eliminates unnecessary workflow stoppages while maintaining safety, as the threshold adapts to actual gravitational and inertial demands.
4Object-affected harmful factors
If the remote center of motion is fixed, then the mechanical structure is simple, but the ability to optimize force distribution and reduce patient trauma is limited
Solution Approach 1:
The remote center of motion is made dynamically adjustable rather than fixed, allowing optimization of force distribution across the patient's body wall. The ability to reposition the remote center reduces concentrated stresses and traumatic effects while maintaining mechanical functionality.
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
This approach minimizes workflow stoppages, allows controlled force application, and reduces patient trauma by dynamically adjusting load thresholds and optimizing the position of remote centers of motion, enhancing the safety and efficacy of robotic surgical procedures.
Implementation Method 1
the one or more sensors comprise one or more torque sensors
Implementation Method 2
the one or more sensors comprise an end effector load cell
Implementation Method 3
determine a load applied to the at least one joint due to at least one of gravity and inertia of the first robotic arm
Implementation Method 4
determine a load applied to the at least one joint due to at least one of gravity and inertia of the first robotic arm
Data Source
AI summary
Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.