Robotic Drivable Assembly Motion Limits for Collision Avoidance
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Solution Overview
Problem
Existing computer-assisted systems face challenges in effectively constraining the motion of drivable assemblies to prevent collisions and optimize task efficiency, particularly in robotic systems where manipulators and instruments are kinematically coupled.
Innovation Solution
A robotic system with a drivable assembly that includes a processing system to determine motion limits based on procedure type and operating mode, constraining movements to avoid collisions and optimize instrument positioning, using a drivable structure and multiple manipulators with joints and links, and providing haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the drivable assembly is allowed to move freely to optimize instrument positioning, then the ability to reach various worksite locations is improved, but the risk of collisions with the environment or system components increases
Solution Approach 1:
The system applies preliminary anti-action by establishing drivable structure limits before motion occurs. The processing system determines these limits based on procedure type and operating mode, creating predefined boundaries that prevent the drivable assembly from entering collision-prone zones while still allowing access to necessary worksite locations.
Solution Approach 2:
The drivable structure limits are made dynamic rather than fixed, allowing the system to adjust motion constraints based on the specific procedure type and operating mode. This enables the system to optimize positioning freedom when safe, while automatically imposing restrictions when collision risk increases.
2Reliability
If motion constraints are applied to prevent collisions, then safety is improved, but the range of motion and positioning flexibility deteriorates
Solution Approach 1:
The system uses dynamic motion constraints that adapt to different procedure types and operating modes. Rather than applying fixed restrictions, the processing system determines appropriate drivable structure limits for each specific operational context, maintaining flexibility when safe while ensuring safety when necessary.
Solution Approach 2:
The system changes the parameters of motion constraints based on procedure type and operating mode. By adjusting the drivable structure limits according to different operational parameters, the system maintains positioning flexibility for routine tasks while imposing stricter safety constraints when needed.
3Object-affected harmful factors
If the processing system continuously monitors and determines drivable structure limits, then collision avoidance is improved, but computational complexity and processing time increase
Solution Approach 1:
The processing system performs preliminary determination of drivable structure limits based on procedure type and operating mode before actual motion occurs. This advance calculation reduces the need for complex real-time monitoring during operation, as the safety boundaries are pre-established for each operational context.
Data Source
AI summary
Techniques for constraining motion of a robotic system. The robotic system includes a structure comprising at least one movable link, the structure configured to support a first manipulator; and a processing system. The processing system is configured to perform operations comprising in response to receiving a command specifying a commanded motion for an instrument supported by the first manipulator: determining a limit for motion of the structure based on at least one parameter selected from the group consisting of: a parameter describing a procedure being performed by the robotic system and an operating mode of the robotic system; determining a first motion of the instrument relative to the structure and a second motion of the structure, wherein the second motion does not violate the limit for motion of the structure; driving the first manipulator to cause the first motion; and driving the structure according to the second motion.