Shared-DoF Robotic Arm Support for Collision-Free Tool Positioning
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Solution Overview
Problem
Existing robotic medical systems face challenges in maintaining a remote center of movement while positioning medical tools, leading to potential collisions between robotic arms and other objects in the environment during medical procedures.
Innovation Solution
A robotic medical system with adjustable arm supports and processors that maintain a remote center of movement, allowing for the positioning of robotic arms and tools while avoiding collisions, and incorporating shared robotic degrees-of-freedom for enhanced maneuverability and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic arms are positioned to access internal regions during medical procedures, then the ability to perform medical tasks is improved, but the risk of collisions between robotic arms and other objects increases
Solution Approach 1:
The patent introduces a base degree of freedom that moves the entire robotic arm assembly in a direction substantially perpendicular to the plane of motion of the robotic arms. This adds a new dimensional space for collision avoidance, allowing the system to reposition robotic arms out of the collision plane while maintaining their ability to perform medical tasks within the original workspace.
Solution Approach 2:
The system dynamically adjusts the base degree of freedom in real-time during medical procedures. The processor continuously monitors the positions of robotic arms and automatically actuates the base degree of freedom to move the robotic arm assembly when potential collisions are detected, providing adaptive collision prevention without interfering with ongoing medical tasks.
2Measurement precision
If multiple robotic arms are used to control medical tools, then the precision and control are improved, but the complexity of the system increases
Solution Approach 1:
The patent combines multiple robotic arms into a unified assembly that shares a common base degree of freedom. This merging approach allows the system to manage complexity by treating the robotic arms as an integrated unit rather than independent systems, while still maintaining the precision benefits of multiple arms working in coordination.
Solution Approach 2:
The base degree of freedom serves multiple functions: it enables collision avoidance, facilitates repositioning of the robotic arm assembly, and maintains the remote center of motion constraint. This multi-functionality reduces overall system complexity by consolidating control mechanisms rather than requiring separate systems for each function.
3Reliability
If the robotic arm assembly is moved to avoid collisions, then the safety is improved, but the position stability of the medical tool may be affected
Solution Approach 1:
The system continuously monitors the positions of robotic arms and the state of the base degree of freedom through sensors and feedback mechanisms. This real-time feedback allows the processor to make precise adjustments to the base degree of freedom that maintain medical tool stability while achieving collision avoidance, ensuring both safety and positional accuracy.
Solution Approach 2:
The base degree of freedom can be preemptively adjusted before potential collisions occur. The system predicts potential collision scenarios and proactively repositions the robotic arm assembly using the base degree of freedom, thereby preventing collisions before they threaten medical tool stability, while maintaining continuous operational capability.
Data Source
AI summary
Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.