Robotic End Effector Articulation Using Antagonistic Force Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic surgical systems face challenges in precisely controlling articulation forces in robotic surgical arms, which affects the accuracy and reliability of surgical procedures, particularly in applying counteracting forces to the end effector.
Innovation Solution
A system that includes an articulation pivot positioned off the center axis of the robotic surgical arm, with counteracting forces applied by first and second motors to the articulation arms, allowing the end effector to articulate based on the ratio of these forces, and a control circuit that instructs the motors to apply these forces via hinges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If counteracting forces are applied by first and second motors to articulation arms, then articulation control precision is improved, but system complexity increases due to multiple motors and force coordination requirements
Solution Approach 1:
The patent applies counteracting forces through first and second motors on articulation arms to achieve precise articulation control. The counteracting forces balance each other to enable accurate positioning of the end effector while managing the complexity through coordinated force application.
2Manufacturing precision
If articulation pivot is positioned off center axis, then articulation accuracy is improved, but mechanical stress increases on articulation components
Solution Approach 1:
The articulation pivot is deliberately positioned off the center axis of the robotic surgical arm. This asymmetric positioning enables more accurate articulation control by creating optimal leverage and force distribution, while the counteracting forces from the motors compensate for the increased mechanical stress on the articulation components.
3Ease of operation
If multiple motors control individual components with interrelationship, then articulation control is improved, but force coordination difficulty increases
Solution Approach 1:
The system employs multiple motors to control individual articulation components with interrelationships. The counteracting forces applied by the motors are coordinated through control systems that monitor and adjust force distribution, enabling smooth articulation control while managing the complexity of force coordination between interconnected components.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
In some aspects, a control algorithm is provided for manipulating a pair of articulation arms configured to control an articulation angle of an end effector of a robotic surgical instrument. Other aspects of the present disclosure focus on the robotic arm system, including the pair of articulation arms coupled to the end effector and guided by independent motors controlled by a control circuit. Each of the articulation arms are designed to exert antagonistic forces competing against each other that are apportioned according to a ratio specified in the control algorithm. The ratio of the antagonistic forces may be used to determine the articulation angle of the head or end effector of the robotic surgical arm.