Robotic Arm Joint Vibration Damping for Surgical Tracking Precision
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Solution Overview
Problem
Surgical robotic systems face challenges with vibration and dynamic instability, which can lead to crosstalk, shaking of robotic arms, and errors in tracking desired tool tip trajectories, affecting safe and effective teleoperation.
Innovation Solution
The implementation of vibration damping systems, such as torsional vibration dampers, centrifugal pendulum absorbers, and squeeze film dampers, coupled to rotational and linear joints, and end effectors, to reduce vibrations and improve dynamic stability by controlling the movement of robotic arms and adjusting damping coefficients based on detected vibration frequencies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic arms are moved to access targeted sites, then surgical access and tool positioning are improved, but vibrations and dynamic instability increase causing crosstalk and tracking errors
Solution Approach 1:
The patent applies vibration damping mechanisms including centrifugal pendulum absorbers and squeeze film dampers to counteract the mechanical vibrations generated by robotic arm movement. These devices are specifically designed to absorb and dissipate vibrational energy at critical frequencies, thereby reducing crosstalk and tracking errors while preserving the robotic system's ability to access targeted surgical sites effectively
2Productivity
If robotic arms are moved quickly to improve procedure efficiency, then productivity increases, but vibrations increase causing shaking and tracking errors
Solution Approach 1:
The patent implements dynamic vibration damping by adjusting damping coefficients based on detected vibration frequencies. The system continuously monitors vibrational characteristics and adapts the damping force in real-time, allowing the robotic arms to move quickly for improved procedure efficiency while maintaining dynamic stability and preventing shaking through active vibration compensation
3Reliability
If damping coefficients are increased to reduce vibrations, then vibration damping improves, but the system complexity increases
Solution Approach 1:
The patent employs self-adjusting damping mechanisms where the damping coefficients are automatically tuned based on detected vibration frequencies. The system uses feedback from vibration sensors to adjust the damping force without requiring complex external control systems, thereby achieving effective vibration control while minimizing the increase in overall system complexity through autonomous adaptation
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
These damping systems effectively minimize vibrations, enhancing the stability and precision of surgical robotic systems, preventing tracking errors and ensuring safe and effective operation.
Implementation Method 1
centrifugal pendulum absorbers
Implementation Method 2
centrifugal pendulum absorbers
Implementation Method 3
squeeze film dampers
Implementation Method 4
torsional vibration dampers
Data Source
AI summary
In some embodiments, a robotic arm includes a first link, a second link, and a rotational joint. The rotational joint is coupled to the first link and the second link and permits the first link to move relative to the second link. The rotational joint includes a rotor, a harmonic drive mechanism, and a vibration damper. The rotor is coupled to the first link and configured to provide a rotor torque. The harmonic drive mechanism is coupled to the rotor and configured to multiply the rotor torque. The vibration damper is coupled to the harmonic drive mechanism and the second link. The vibration damper permits transfer of the rotor torque from the harmonic drive mechanism to the second link and reduces vibrations of the robotic arm