Robotic Arm Load Thresholds With Remote Center Adjustment
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Solution Overview
Problem
Robotic systems in medical procedures face challenges in safely managing external loads to prevent injury to patients, particularly during laparoscopic procedures where excessive forces can be applied, and in dynamically adjusting load thresholds and remote centers of motion to avoid trauma and maintain procedural efficiency.
Innovation Solution
The system includes a robotic arm with processors and sensors that dynamically adjust external load thresholds based on the robotic arm's pose, gravity, and inertia, and can adjust the position of the remote center of motion to minimize forces on the patient's body wall, using brakes to prevent further movement if thresholds are exceeded and software constraints to optimize the robotic arm's reach and workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If external load thresholds are set to prevent patient injury, then patient safety is improved, but procedural efficiency deteriorates due to workflow stoppages
Solution Approach 1:
The system dynamically adjusts external load thresholds based on real-time robotic arm pose, gravity compensation, and inertia calculations. Instead of using fixed thresholds that cause unnecessary workflow stoppages, the thresholds adapt to current operational conditions, allowing safe operation while maintaining procedural efficiency.
Solution Approach 2:
The system changes the load threshold parameter dynamically based on robotic arm configuration, gravity effects, and inertial properties. By adjusting this critical parameter in real-time rather than maintaining a static value, the system optimizes both safety and efficiency throughout the procedure.
2Device complexity
If fixed external load thresholds are used, then system simplicity is maintained, but adaptability to different robotic arm poses deteriorates
Solution Approach 1:
The system transitions from static to dynamic threshold adjustment, where load thresholds automatically adapt to different robotic arm poses, gravity conditions, and inertial states. This dynamic approach maintains safety across varying operational conditions without requiring complex manual reconfiguration.
Solution Approach 2:
The robotic system performs self-adjustment of load thresholds by automatically calculating gravity compensation and inertial effects based on its own pose and configuration. This self-service capability eliminates the need for external intervention while adapting to different operational scenarios.
3Measurement precision
If gravity and inertia loads are compensated for, then accurate external load detection is improved, but computational complexity increases
Solution Approach 1:
The system uses feedback from sensors measuring robotic arm pose, joint positions, and forces to continuously calculate and compensate for gravity and inertia effects. This closed-loop approach improves external load detection accuracy by accounting for dynamic factors while using standard computational methods.
Solution Approach 2:
The system replaces purely mechanical load sensing with a hybrid approach that uses computational models to calculate gravity and inertia forces, substituting complex mechanical compensation mechanisms with software-based solutions that achieve the same effect with reduced physical complexity.
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
This approach reduces the risk of patient injury by dynamically managing external loads and adjusting the remote center of motion, minimizing workflow stoppages and enhancing the robotic arm's reach and workspace, thereby improving procedural safety and efficiency.
Implementation Method 1
the one or more sensors comprise one or more torque sensors
Implementation Method 2
the one or more brakes have a set holding torque, and the first external load threshold is further determined based on the holding torque of the one or more brakes
Implementation Method 3
determine a load applied to the at least one joint due to at least one of gravity and inertia of the first robotic arm
Implementation Method 4
determine a load applied to the at least one joint due to at least one of gravity and inertia of the first robotic arm
Data Source
AI summary
Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.