Robotic Surgery Arm Support Repositioning for Collision Avoidance
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Solution Overview
Problem
Existing robotic systems for medical procedures face challenges with collisions between robotic arms and joint limits, hindering clinician workflow during surgeries without optimizing the poses of robotic system components.
Innovation Solution
A robotic system with an adjustable arm support and processor-controlled movement in a null space to optimize the position of robotic arms, avoiding collisions and joint limits while maintaining the end effector pose.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robotic arm is positioned to access the patient during surgery, then the end effector can perform medical procedures, but collisions between robotic arm portions and joint limits may occur
Solution Approach 1:
The system performs preliminary optimization of the robotic arm pose before surgical procedures begin or during transitions between procedures. The processor determines an optimized position for the arm support that anticipates potential collisions and joint limits, positioning the robotic arm in advance to avoid these issues while maintaining the ability to perform the required medical procedures.
Solution Approach 2:
The arm support is made adjustable and movable rather than fixed, allowing it to be repositioned dynamically. The processor commands the arm support to move to optimized positions during different phases of the surgical procedure, enabling the system to adapt its configuration to avoid collisions and joint limits while maintaining operational effectiveness.
2Adaptability or versatility
If the robotic arm support is made adjustable to optimize positioning, then workspace optimization is improved, but device complexity increases
Solution Approach 1:
The adjustable arm support serves multiple functions: it provides mechanical support for the robotic arm, enables positioning optimization to avoid collisions and joint limits, and maintains the end effector's operational capability. This multi-functionality justifies the added complexity by consolidating support, positioning, and optimization functions into a single integrated component.
Data Source
AI summary
Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.