Robotic Arm Inertial Sensing for Pose Deflection Detection
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Solution Overview
Problem
Surgical robots face inaccuracies in detecting deflections and pose errors due to limitations in encoder technology, leading to potential surgical inaccuracies.
Innovation Solution
Incorporating inertial sensors with a known physical relationship to the robotic arm, allowing for accurate measurement of movements and forces, and comparing these readings with encoder data to determine precise poses and generate alerts when thresholds are exceeded.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If encoder technology is used to detect robotic arm position, then the system is simple and cost-effective, but measurement precision deteriorates due to inability to detect deflections
Solution Approach 1:
The patent combines encoder technology with inertial sensors (accelerometers, gyroscopes, magnetometers) to create a hybrid sensing system. The encoder provides baseline position information while the inertial sensors detect deflections and forces, merging both measurement methods to achieve high measurement precision without complete system replacement.
Solution Approach 2:
The inertial sensors act as intermediary devices that detect forces and deflections that encoders cannot measure. These sensors provide intermediate measurement data that compensates for encoder limitations, particularly in detecting cantilever deflections and external forces applied to the robotic arm.
2Reliability
If traditional sensing methods are used, then device complexity remains low, but reliability deteriorates due to pose errors in surgical procedures
Solution Approach 1:
The system continuously monitors robotic arm position using both encoders and inertial sensors, comparing measurements in real-time. When discrepancies or threshold violations are detected (such as excessive forces or deflections), the system provides feedback alerts to operators, enabling corrective action to maintain surgical procedure accuracy.
Solution Approach 2:
The inertial sensors detect potential issues (forces, deflections, pose deviations) before they result in surgical errors. By monitoring these parameters continuously and providing advance warning through alerts, the system prevents reliability deterioration rather than reacting after problems occur.
3Measurement precision
If encoder-only systems are used, then ease of operation is maintained, but measurement precision worsens due to undetected deflections
Solution Approach 1:
The inertial sensors automatically detect and report deflections and forces without requiring manual intervention or complex operational procedures. The system self-monitors its own state, providing measurement precision improvement while maintaining ease of operation through automated sensing and alerting 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 solution enhances the accuracy of robotic arm positioning, reduces surgical inaccuracies, and provides real-time alerts for excessive forces or pose deviations, ensuring safer and more precise surgical procedures.
Implementation Method 1
at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose
Implementation Method 2
the at least one inertial sensor comprises a force sensor, and wherein the force sensor measures a force on the tracked object
Data Source
AI summary
A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.