Shared-DoF Robotic Arm Support for Collision-Free Tool Positioning
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Solution Overview
Problem
Existing robotic systems face challenges in avoiding collisions between robotic arms and other objects during medical procedures, particularly when accessing patient anatomy through incisions or natural orifices, due to limited positioning options and potential collisions, which can restrict the ability to position medical tools effectively.
Innovation Solution
The system employs shared robotic degrees-of-freedom (DoFs) between different components such as adjustable arm supports, set-up joints, and patient positioning platforms to allow for null space movement, enabling collision avoidance while maintaining the position of remote centers of movement and medical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic arms are positioned close to access patient anatomy through incisions or natural orifices, then access to patient anatomy is improved, but collisions between robotic arms and other objects occur
Solution Approach 1:
The system dynamically adjusts the configuration of robotic arms and shared degrees of freedom during the procedure. The processor continuously optimizes the positions of robotic arms and adjustable arm supports to maintain access to patient anatomy while avoiding collisions, enabling real-time adaptation to changing spatial constraints
Solution Approach 2:
The system utilizes null space motion in shared degrees of freedom to move robotic arms in additional dimensional spaces. By coordinating movement across multiple components (robotic arms, arm supports, set-up joints), the system achieves collision avoidance through motion in previously unavailable spatial dimensions while maintaining the remote center of movement
2Object-affected harmful factors
If robotic arms are spaced apart to avoid collisions, then collision avoidance is improved, but positioning options and versatility are reduced
Solution Approach 1:
The system merges the degrees of freedom of multiple components (robotic arms, adjustable arm supports, set-up joints) into shared degrees of freedom. This consolidation allows coordinated movement of multiple components simultaneously, enabling collision avoidance while maintaining positioning versatility through null space motion in the combined system
Solution Approach 2:
The system dynamically reconfigures the spatial arrangement of robotic arms and supports during operation. The processor continuously optimizes positions to maintain both collision avoidance and positioning options, allowing the system to adapt to different procedural requirements without fixed spacing constraints
3Ease of operation
If multiple components with shared degrees-of-freedom are coordinated for null space motion, then maneuverability and collision avoidance are improved, but system complexity increases
Solution Approach 1:
The adjustable arm support and set-up joints serve multiple functions: they support robotic arms, provide additional degrees of freedom for null space motion, and enable collision avoidance while maintaining the remote center of movement. This multi-functionality reduces the need for separate dedicated components for each function
Solution Approach 2:
The system uses its own shared degrees of freedom and null space motion capabilities to solve its own collision avoidance problems. The processor coordinates movement within the existing system components rather than requiring external intervention or additional safety systems
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.