Shared-DOF Robotic Arm Kinematics for Collision-Free Tool Positioning
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Solution Overview
Problem
Existing robotic systems for medical procedures face challenges in avoiding collisions between robotic arms and other objects while maintaining the position and orientation of medical tools, particularly in procedures requiring close spacing of access points, which limits the ability to position tools effectively.
Innovation Solution
The system employs a configuration with redundant degrees of freedom, allowing robotic arms to move within a null space to avoid collisions while maintaining the remote center of movement and tool position, utilizing shared degrees of freedom between robotic arms, adjustable arm supports, and patient platforms to achieve kinematic optimization and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If robotic arms are positioned close together to access internal regions through limited incisions, then the minimally invasive nature of the procedure is maintained, but the risk of collision between robotic arms and other objects increases
Solution Approach 1:
The system utilizes null space movements that operate in additional degrees of freedom beyond the primary task space. By moving robotic arms in dimensions that do not affect the tool's position at the remote center, the system can avoid collisions while maintaining precise tool positioning through shared degrees of freedom between multiple robotic arms
Solution Approach 2:
The system dynamically adjusts the configuration of robotic arms by changing their degrees of freedom parameters. Through kinematic optimization, the system modifies arm positions and orientations within the null space to avoid collisions while preserving the essential task of maintaining tool position at the remote center of movement
2Reliability
If robotic arms move to avoid collisions with other objects, then the safety of the procedure is improved, but the position and orientation of medical tools may be compromised
Solution Approach 1:
The system separates the control space into task space (affecting tool position) and null space (not affecting tool position). By segmenting the degrees of freedom in this way, robotic arms can independently move in the null space to avoid collisions while the task space parameters remain fixed to maintain precise tool positioning
Solution Approach 2:
The shared degrees of freedom between multiple robotic arms serve dual functions: they enable collision avoidance movements and simultaneously maintain the remote center of movement constraint. This multi-functionality allows the system to achieve both safety and precision without compromise
3Adaptability or versatility
If the number of degrees of freedom is increased to provide null space movement, then the ability to avoid collisions is improved, but the device complexity increases
Solution Approach 1:
The system merges the control of multiple robotic arms through shared degrees of freedom, where a single degree of freedom can be controlled by multiple arms simultaneously. This combining approach provides null space movement capability without requiring completely independent control systems for each arm, thereby reducing overall system complexity
Data Source
AI summary
Systems and methods for kinematic optimization with shared robotic degrees-of-freedom are provided. In one aspect, a robotic medical system includes a base, an adjustable arm support coupled to the base, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm is further configured to be coupled to a medical tool that is configured to be delivered through an incision or natural orifice of a patient. The system further includes 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 tool.