Robotic Manipulator Push-Out Control Near Joint Motion Limits
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Solution Overview
Problem
Current minimally invasive robotic surgical systems face challenges in efficiency, ease of use, maneuverability, space utilization in the operating room, faster setup, collision prevention, and reduced mechanical complexity and size.
Innovation Solution
The implementation of kinematic linkage structures and associated control systems that allow for active and passive joint configurations, enabling easier alignment of robotic manipulators with surgical sites, using drive or brake systems to limit inadvertent movement and incorporating a buffering zone to prevent collisions and maintain safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If drive or brake systems are applied to limit inadvertent movement of the set-up linkage, then safety and stability are improved, but the ease of manual positioning is reduced
Solution Approach 1:
The system dynamically switches between drive/brake modes and manual positioning modes. The drive system provides controlled movement during positioning, then transitions to brake mode to limit inadvertent movement, creating a dynamic system that adapts to different operational phases to resolve the contradiction between safety and ease of positioning
Solution Approach 2:
The system changes the operational parameters of the drive/brake system based on the phase of operation. During manual positioning, the drive system is activated with specific force parameters to assist positioning. When positioning is complete, parameters are changed to engage braking with different force characteristics to prevent inadvertent movement, thus resolving the contradiction through parameter adaptation
2Reliability
If a buffering zone is implemented to prevent collisions, then safety is improved, but the range of motion is reduced
Solution Approach 1:
The buffering zone is established in advance as a safety margin before the physical range of motion limits are reached. This preliminary protective measure prevents collisions by stopping movement before the actual mechanical limits are encountered, accepting a reduction in usable range as the cost of enhanced safety
Solution Approach 2:
The buffering zone acts as a cushion or buffer that absorbs potential collision energy before it can cause damage. By providing this protective zone in advance, the system prioritizes safety over maximizing the full theoretical range of motion, resolving the contradiction between safety and range of motion
3Ease of operation
If active and passive joint configurations are used, then ease of alignment is improved, but device complexity increases
Solution Approach 1:
The set-up linkage is segmented into multiple joints with different configurations - some active (motor-driven) and some passive (manually positionable). This segmentation allows each joint type to contribute differently to the alignment process, with active joints providing powered positioning and passive joints allowing manual adjustment, thereby improving ease of alignment while managing complexity through functional division
Solution Approach 2:
The mixed configuration of active and passive joints creates a multi-functional system where different joint types serve different purposes in the alignment process. This universality allows the system to handle various alignment scenarios using the appropriate joint type, improving overall ease of operation while the modular nature of combining different joint types helps manage device complexity
Data Source
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AI summary
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.