Robotic Manipulator Positioning with Reference-Plane Guided Poses

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Solution Overview

Problem

The setup and teardown processes of robotic surgical systems are complicated due to the need for coordinating multiple components, which complicates pre-operative preparation and post-operative restoration.

Innovation Solution

A method and system for controlling a robotic surgical system by defining a reference plane and guiding the robotic arm through a series of predetermined poses using actuators, virtual fixtures, and compensation modes to simplify setup and teardown processes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If conventional robotic systems are used with multiple components requiring coordination, then the system provides comprehensive surgical functionality, but the setup and teardown processes become complicated and time-consuming

Engineering Contradiction:

Improvesurgical functionalityVSAvoidsetup and teardown complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robotic arm is divided into multiple articulated segments or links connected by joints, allowing independent control of each segment. This segmentation enables the complex robotic system to be broken down into manageable components that can be positioned and controlled separately, simplifying the overall setup and teardown processes while maintaining full surgical functionality.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system implements predetermined poses and motion paths that are pre-programmed and stored. During setup and teardown, the robotic arm automatically follows these pre-defined sequences of positions and orientations, eliminating the need for manual coordination of multiple components and significantly reducing the complexity and time required for system preparation and restoration.

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If manual control of robotic arm positions is implemented, then flexibility in positioning is improved, but the precision and repeatability of poses deteriorate

Engineering Contradiction:

Improvepositioning flexibilityVSAvoidpose precision

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The system incorporates sensors and feedback mechanisms that continuously monitor the actual position and orientation of the robotic arm. This feedback is compared against the desired predetermined pose, and corrective actions are automatically applied to eliminate positioning errors. This allows manual control flexibility while maintaining high precision through real-time error correction.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system uses controlled changes in joint parameters (angles, positions, velocities) to transition between predetermined poses. By precisely controlling these parameters through actuators and following pre-defined motion trajectories, the system achieves both operational flexibility and high positioning precision, as each parameter change is calculated and executed with accuracy.

Inventive Principle:

Principle #35Parameter changes

3Productivity

If the robotic arm is guided through predetermined poses, then setup and teardown efficiency is improved, but the ability to adapt to unexpected situations deteriorates

Engineering Contradiction:

Improvesetup and teardown efficiencyVSAvoidresponse to unexpected situations

Core Design Contradiction:

ProductivityVSAdaptability or versatility

Solution Approach 1:

The system implements dynamic control where the robotic arm can switch between automatic execution of predetermined poses and manual intervention modes. During normal setup and teardown operations, the pre-defined sequences provide high efficiency. When unexpected situations arise, the system allows dynamic transition to manual control or pose modification, enabling adaptability while maintaining overall efficiency through the structured framework of predetermined poses.

Inventive Principle:

Principle #15Dynamics

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

Facilitates predictable and efficient movement of the robotic arm during pre-operative setup, intra-operative procedures, and post-operative teardown, reducing the risk of collisions and simplifying the overall workflow.

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 of the plurality of joints may be driven to apply a gravity compensation torque

Methodology Applied

Scientific EffectGravitation: Gravitation

Implementation Method 3

at least one of the plurality of joints may be driven to apply a friction compensation torque

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS12440992B2Control modes and processes for positioning of a robotic manipulator

Publication Date: 2025.10.14 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.