Robotic Surgical Collision Handling Through Input Handle Slipping
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Solution Overview
Problem
Robotic surgical systems face issues with positional mismatches and undesired motions due to collisions between the robot arm or end effector and obstructions, which are not effectively managed by current clutching mechanisms, leading to inefficiencies and potential surgical complications.
Innovation Solution
A method for collision handling in robotic surgical systems involves slipping the input handle relative to the tool pose when a collision occurs, allowing for an offset or dynamic scaling to maintain tool stability and prevent unexpected movements, using a processing unit to manage the handle's position and provide force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If clutching mechanism is used to decouple input handle from robotic instrument, then surgeon can reposition handle within workspace, but positional mismatch occurs between handle and instrument during collision
Solution Approach 1:
The patent replaces the mechanical clutching mechanism with a software-based collision handling algorithm. The processing unit detects collisions through force feedback signals and automatically manages the decoupling/recoupling of the input handle from the robotic instrument, eliminating the need for manual clutching operations and preventing positional mismatches.
Solution Approach 2:
The system uses force feedback signals from the robotic instrument to detect collisions in real-time. When a collision is detected, the processing unit receives the force signal and automatically adjusts the relationship between the input handle and instrument, providing continuous feedback-based control to maintain position synchronization.
2Reliability
If collision is detected and tool is held stationary, then safety is improved, but surgical time increases due to recovery procedures
Solution Approach 1:
The system performs preliminary collision detection by continuously monitoring force feedback signals before significant positional mismatches occur. By detecting collisions early and automatically initiating recovery algorithms, the system prevents the need for time-consuming manual recovery procedures while maintaining surgical safety.
Solution Approach 2:
The collision handling algorithm operates autonomously without requiring surgeon intervention. The processing unit automatically detects collisions through force feedback, determines the appropriate recovery action, and executes the recovery procedure, allowing the system to serve itself during collision events and minimizing surgical time loss.
Data Source
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AI summary
Methods of collision handling for robotic surgical systems include slipping an input handle of a user interface of the robotic surgical system relative to a pose of a tool of a surgical robot of the robotic surgical system when a portion of the surgical robot collides with an obstruction and an input handle is moved in a direction that corresponds to moving the tool towards the obstruction. The input handle having an offset relative to a desired pose of the tool after the input handle is slipped.