Robotic Manipulator Positioning With Reference-Plane Virtual Fixtures

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

The setup and teardown processes of robotic surgical systems are complicated due to the need for coordinating multiple components, which can be time-consuming and prone to collisions during pre-operative and post-operative procedures.

Innovation Solution

A method and system for controlling a robotic arm in a surgical system by defining a reference plane and guiding it through a series of predetermined poses using actuators, joint space and task space virtual fixtures, and compensation modes to assist in positioning and constrain the arm within the plane, facilitating predictable and collision-free movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional robotic systems are used for MIS, then the benefits of minimally-invasive surgery are achieved, but the setup and teardown processes become complicated and time-consuming

Engineering Contradiction:

Improvesurgical procedure reliabilityVSAvoidsetup and teardown time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system pre-defines a reference plane at a predetermined reference location and establishes a series of predetermined poses for the robotic arm. These poses are calculated and stored in advance, allowing the robotic arm to automatically transition between them during setup and teardown without requiring real-time complex coordination, thereby reducing setup and teardown time while maintaining surgical reliability

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If the robotic arm is manually positioned during setup and teardown, then flexibility is maintained, but the complexity of coordinating multiple components increases

Engineering Contradiction:

Improverobotic arm positioning easeVSAvoidsystem coordination complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The reference plane acts as an intermediary constraint that simplifies the positioning task. By constraining the robotic arm to move within this predefined plane and follow predetermined poses, the system reduces the complexity of coordinating multiple components while maintaining ease of operation. The virtual fixture serves as a mediator between the operator's intent and the complex multi-component coordination required

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If the robotic arm moves freely during setup and teardown, then operational flexibility is maximized, but collisions between components may occur

Engineering Contradiction:

Improverobotic arm positioning flexibilityVSAvoidcollision risk

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The system converts the potential harm of uncontrolled movement (collisions) into a benefit by using the constraint of the reference plane as a protective guide. The predetermined poses within the reference plane ensure that the robotic arm follows a safe, collision-free path while still maintaining the flexibility needed for proper setup and teardown. The virtual fixture transforms the limitation into a protective feature

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Data Source

PatentUS20260077504A1Control modes and processes for positioning of a robotic manipulator

Publication Date: 2026.03.19 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.