Robotic Kinematic Chain Control for Undesired Orientation Motion

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Solution Overview

Problem

Existing robotic surgical systems fail to account for undesired orientational motion in non-tool path components of the kinematic chain, leading to inaccuracies and disruptions in surgical procedures due to abrupt angular velocity, acceleration, or jerk, which can alarm operators and disrupt the workflow.

Innovation Solution

A controller identifies and adjusts the feed rate of the energy applicator to mitigate undesired orientational motion in non-tool path components by reducing the velocity in response to detected or predicted motion, using sensors and simulation data to manage collisions and constraints.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If the feed rate is adjusted to account for desired inputs and conditions, then the energy applicator's movement accuracy is improved, but the non-tool path components experience abrupt angular velocity, acceleration, or jerk causing inaccuracies and disruptions

Engineering Contradiction:

Improveenergy applicator position accuracyVSAvoidkinematic chain motion stability

Core Design Contradiction:

Measurement precisionVSStability of the object's composition

Solution Approach 1:

The controller proactively identifies potential undesired orientational motion in non-tool path components before it occurs and preemptively adjusts the feed rate to prevent such motion, rather than reacting after the problem arises. This preliminary action maintains both position accuracy and motion stability.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors the kinematic chain components and uses this feedback to dynamically adjust the feed rate. By incorporating real-time information about the actual motion state of non-tool path components, the controller can modulate the feed rate to maintain stability while achieving accurate energy applicator positioning.

Inventive Principle:

Principle #23Feedback

2Productivity

If the feed rate is increased to improve productivity, then the surgical procedure efficiency is improved, but undesired orientational motion in non-tool path components increases causing inaccuracies

Engineering Contradiction:

Improvesurgical procedure efficiencyVSAvoidcommanded position accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The feed rate is made dynamic rather than static, allowing it to change in real-time based on the operational conditions. The controller adjusts the feed rate dynamically to maintain optimal balance between productivity and precision, increasing it when conditions permit and reducing it when undesired motion is detected or predicted.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the feed rate parameter adaptively based on the detected or predicted motion characteristics of non-tool path components. By modifying this critical parameter in response to system state, the system maintains position accuracy while maximizing productivity during stable phases.

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If the manipulator is controlled according to complex inverse kinematic solution, then the commanded positions are achieved, but abrupt angular velocity and acceleration occur in non-tool path components disrupting workflow

Engineering Contradiction:

Improvecommanded position achievementVSAvoidabrupt angular velocity and acceleration

Core Design Contradiction:

Ease of operationVSObject-generated harmful factors

Solution Approach 1:

The system detects the harmful abrupt angular velocity and acceleration in non-tool path components and converts this information into a beneficial feedback signal. This feedback is used to modulate the feed rate, transforming the potentially harmful motion characteristics into a control mechanism that prevents similar disruptions in the future.

Inventive Principle:

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

Data Source

PatentUS12528184B2Robotic systems and methods for mitigating undesired orientational motion of kinematic components

Publication Date: 2026.01.20 MAKO SURGICAL CORP

AI summary

A robotic surgical system includes a kinematic chain defined by components of a manipulator and a surgical tool including an energy applicator. At least one controller identifies that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion. The at least one controller changes operation of the manipulator to mitigate for the present or expected undesired orientational motion.