Robotic End-Effector Control Using Force Feedback and Auto Activation
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Solution Overview
Problem
Robotic surgical systems face challenges in efficiently and accurately controlling robotic arms during surgical procedures, particularly in coordinating forces to avoid tissue trauma and ensuring precise tool activation based on real-time sensory data, which can lead to inefficiencies and potential complications.
Innovation Solution
The implementation of a control system that utilizes sensors to monitor forces applied by robotic arms and adjust movements accordingly, combined with automatic activation modes for surgical tools based on sensory feedback, to ensure precise control and minimize tissue trauma.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic arms are used to perform surgical procedures, then precision and control are improved, but complexity of the system increases
Solution Approach 1:
The control system continuously receives sensory data from sensors monitoring forces applied by robotic arms and adjusts movements in real-time. This feedback loop enables precise control of end-effectors during close operations, resolving the contradiction by maintaining surgical precision through active control rather than static design complexity
Solution Approach 2:
The system uses automatic activation modes where the robotic system autonomously activates surgical tools based on sensory feedback without requiring constant manual intervention. This self-service capability reduces the operational complexity while maintaining high precision through automated decision-making algorithms
2Object-affected harmful factors
If sensors are used to monitor forces in real-time, then tissue trauma is reduced, but device complexity increases
Solution Approach 1:
Sensors continuously monitor forces applied by robotic arms and provide real-time feedback to the control system. This feedback enables dynamic adjustment of applied forces to remain within safe thresholds, preventing tissue trauma while using a relatively simple sensor-integration approach
Solution Approach 2:
The system replaces complex mechanical force-limitation mechanisms with sensor-based electronic control. Instead of using complex mechanical structures to physically limit forces, the patent uses sensors to detect forces and electronically controls the robotic arms to stay within safe thresholds, reducing mechanical complexity while achieving the same protective function
3Productivity
If automatic activation modes are implemented, then efficiency is improved, but reliability risks increase
Solution Approach 1:
The automatic activation mode uses real-time sensory feedback to determine when tool activation is appropriate. The control system monitors forces, positions, and other parameters continuously and only activates tools when sensory data indicates safe and appropriate conditions, maintaining reliability through condition-based activation rather than arbitrary automation
Solution Approach 2:
The system performs preliminary sensing and evaluation before activating surgical tools. By continuously monitoring forces and positions in advance and preparing for activation only when conditions are met, the system ensures reliable tool activation while maintaining surgical efficiency through pre-condition checking
Data Source
AI summary
A system for controlling a first robotic arm relative to a second robotic arm is disclosed. The system includes a two robotic arms each including a surgical tool and a tool driver. A central control circuit is configured to communicate with the robotic arms to determine a position of the robotic arms and modify a control algorithm for one of the robotic arms based on the relative position of the other robotic arm.