Robotic Arm Positioning Within a Reference Plane

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Solution Overview

Problem

The setup and teardown processes of robotic surgical systems are complex due to the coordination of multiple components, making it difficult to efficiently position and store robotic arms before and after surgical procedures.

Innovation Solution

A method involving the definition of a reference plane at a predetermined location for robotic arms, where joints are driven through a series of predetermined poses using actuators, virtual fixtures, and compensation torques to guide the arms into constrained positions for pre-operative setup, intra-operative positioning, and post-operative storage, facilitating controlled and predictable movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional robotic systems are used for MIS, then surgical procedures can be performed with reduced tissue damage, but setup and teardown processes become complicated due to coordination of multiple components

Engineering Contradiction:

Improvesurgical procedure reliabilityVSAvoidsetup and teardown complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The robotic arm is equipped with sensors and control systems that enable it to autonomously navigate to predetermined poses and perform setup/teardown sequences without requiring complex manual coordination of multiple components, thereby simplifying the overall system complexity while maintaining surgical reliability

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Predetermined poses and trajectories are pre-programmed into the system, allowing the robotic arm to automatically execute standardized setup and teardown sequences without requiring real-time complex coordination during these phases

Inventive Principle:

Principle #10Preliminary action

2Reliability

If multiple components are coordinated for proper setup, then the robotic system can function correctly, but the setup and teardown processes become time-consuming

Engineering Contradiction:

Improvesystem coordination reliabilityVSAvoidsetup and teardown time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system pre-defines multiple predetermined poses and trajectories that the robotic arm can execute automatically during setup and teardown, eliminating the need for time-consuming manual coordination of multiple components while ensuring proper system configuration

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Manual mechanical coordination of multiple components is replaced with automated sensor-based feedback and control algorithms, allowing the robotic arm to autonomously achieve proper positioning and configuration more quickly

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If the robotic arm is manually manipulated without guidance, then ease of operation is improved, but collision risk and positioning precision deteriorate

Engineering Contradiction:

Improvemanual manipulation easeVSAvoidpositioning precision

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

Virtual fixtures serve as an intermediary between the operator and the robotic arm, providing force feedback and guidance forces that constrain the arm's movement to safe trajectories while maintaining operator control and ease of manipulation

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system continuously monitors the robotic arm's position and provides real-time feedback through virtual fixtures that guide the arm along predetermined trajectories, ensuring positioning precision is maintained even during manual manipulation

Inventive Principle:

Principle #23Feedback

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 simplifies the setup and teardown processes by ensuring consistent and predictable robotic arm movement, reducing collisions and improving workflow efficiency while maintaining a sterile environment.

Implementation Method 1

driving (e.g., with one or more actuators) at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses

Methodology Applied

Scientific EffectMechanical Force: Mechanical Force

Implementation Method 2

at least one joint may be driven to apply a gravity compensation torque

Methodology Applied

Scientific EffectGravity: Gravitation

Data Source

PatentUS11712805B2Control modes and processes for positioning of a robotic manipulator

Publication Date: 2023.08.01 AURIS HEALTH INC

AI summary

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.