Robotic Drive Module Velocity Observer for Joint Failure Detection
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Solution Overview
Problem
Current surgical robotic systems lack effective real-time monitoring mechanisms to detect failures in robotic drive modules, which can compromise the safety and precision of minimally invasive medical procedures.
Innovation Solution
A surgical robotic system equipped with a safety observer that calculates observed velocity based on joint and motor torque measurements, comparing it with measured velocity to detect failures by identifying velocity differences outside a predefined error range, and outputs an error to the main controller to halt operations if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time monitoring of robotic drive modules is implemented, then safety and reliability are improved, but device complexity increases
Solution Approach 1:
The patent implements a safety observer that continuously monitors the robotic drive module by comparing commanded velocities with actual velocities measured by sensors. When a discrepancy exceeds a threshold, the system generates a safety signal to halt operation. This feedback mechanism enables real-time failure detection without requiring complex additional hardware, resolving the contradiction between improved safety and increased device complexity.
2Reliability
If velocity monitoring and failure detection systems are added, then reliability is improved, but measurement precision requirements increase
Solution Approach 1:
The safety observer calculates expected velocities based on commanded torques and system dynamics models before actual movement occurs. By comparing these pre-calculated expected velocities with actual measured velocities, the system can detect anomalies without requiring extremely high measurement precision. This preliminary calculation approach reduces the stringent precision requirements while maintaining reliable failure detection.
Data Source
AI summary
The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.