Robotic Medical Apparatus Collision Detection via Force Torque Comparison
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current safety mechanisms in robotic medical apparatuses, such as those used in angiography and X-ray imaging systems, face challenges in effectively detecting collisions between robotic components and operators due to complex geometries and high costs associated with extensive sensor integration, leading to residual risks of collisions in dynamic medical environments.
Innovation Solution
A robotic medical apparatus with a kinematic chain and a computation and control device that utilizes a measurement system with force and torque sensors to determine nominal and actual forces and torques, enabling collision detection by comparing these values and incorporating a kinematic model for precise collision determination, thereby providing comprehensive and cost-effective safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If extensive sensor integration is used for collision detection, then safety and collision detection capability are improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the collision detection function from multiple distributed sensors and concentrates it in a single sensor module integrated into the end effector. This single module performs collision detection for the entire robotic system, eliminating the need for extensive sensor integration across multiple components while maintaining comprehensive safety coverage.
Solution Approach 2:
The sensor module in the end effector serves multiple functions: it detects collisions during surgical procedures, monitors contact forces with patient tissue, and provides tactile feedback for teleoperated operations. This multi-functionality reduces the need for separate specialized sensors for each function, thereby reducing overall device complexity.
2Reliability
If multiple sensors are integrated to cover complex geometries, then collision detection coverage is improved, but manufacturing cost and complexity increase
Solution Approach 1:
The patent extracts the collision detection capability from multiple distributed sensor locations and consolidates it into a single sensor module located in the end effector. This single module provides comprehensive collision detection coverage for the entire robotic system, eliminating the need for multiple sensors across complex geometries and significantly reducing manufacturing cost and complexity.
3Reliability
If speed reduction is implemented in the vicinity of treatment couch, then safety is improved, but productivity decreases
Solution Approach 1:
The patent implements dynamic speed adjustment based on real-time collision detection data. The robotic system automatically modulates its speed according to the detected contact forces and proximity to sensitive areas, rather than maintaining a permanently reduced speed. This dynamic adaptation maintains high productivity during safe operations while ensuring safety when collisions are detected or anticipated.
Solution Approach 2:
The sensor module provides real-time feedback on contact forces and collisions, which the control system uses to dynamically adjust operational parameters including speed. This feedback loop enables the system to maintain optimal speed for productivity while automatically reducing speed only when and where collision risks are detected, rather than applying blanket speed restrictions.
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 solution enhances safety by enabling extensive collision detection across complex geometries at a lower cost, reducing the risk of collisions and ensuring reliable operation in dynamic medical environments.
Implementation Method 1
a measurement system (42) to determine a force and/or a torque. The force and/or the torque essentially acts at a predeterminable point in the kinematic chain
Implementation Method 2
the computation and control device is configured to detect a collision of the robotic medical apparatus depending on a difference between the force that is acting and/or the torque that is acting that has/have been determined and the nominal force and/or the nominal torque
Data Source
AI summary
A robotic medical apparatus includes a kinematic chain including a stand unit, an articulation device, a positioning device, and a positionable end effector. The apparatus further includes a controller to control the positioning device. The robotic medical apparatus includes a measurement system to determine a force and/or a torque. The force and/or the torque is essentially acting at one point in the kinematic chain. A measurement signal from the measurement system is transmittable to the controller. The controller is configured to determine the force and/or torque that is acting, and as a function of a current position and/or of a current kinematic state, to determine a nominal force and/or a nominal torque. As a function of the difference between the force that is acting and/or the torque that is acting that has been determined and the nominal force and/or the nominal torque that has been determined, a collision is detected.