Robotic Surgical Arm Balance Control via Dynamic Monitoring Area
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Solution Overview
Problem
Conventional robotic surgical systems face challenges in maintaining balance and preventing tipping due to the posture of the arm-shaped member, which can lead to instability during surgical procedures.
Innovation Solution
A robotic surgical system and control method that include a monitoring controller to monitor a set monitoring point with respect to the arm base or second robot arm and adjust the monitoring area based on the posture of the second robot arm, ensuring the system maintains balance and preventing tipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the arm-shaped member changes its posture to increase operational flexibility, then the versatility of the surgical apparatus is improved, but the stability of the surgical apparatus deteriorates and it may tip
Solution Approach 1:
The monitoring area is dynamically changed based on the posture of the second robot arm. As the arm base moves to different positions and orientations, the monitoring controller adjusts the monitoring area boundaries accordingly, allowing the system to maintain stability while accommodating a wider range of postures for the second robot arm
Solution Approach 2:
The system continuously monitors the position of the arm base relative to the monitoring area and uses this feedback to determine whether to restrict the posture of the second robot arm. The monitoring controller provides real-time feedback control to prevent tipping while allowing maximum operational flexibility
2Stability of the object's composition
If a fixed monitoring area is used to prevent tipping, then the stability of the surgical apparatus is improved, but the number of allowable postures for the second robot arm is reduced
Solution Approach 1:
The monitoring area is dynamically adjusted based on the current posture of the second robot arm. When the arm base is in a safe position, the monitoring area expands to allow greater posture freedom. When the arm base approaches unstable positions, the monitoring area contracts to restrict movements that would cause tipping
Data Source
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AI summary
a robotic surgical system (500) includes a surgical apparatus (100) including a first robot arm (50) to move a medical instrument (1), an arm base (40) to support a proximal end of the first robot arm (50), and a second robot arm (30) to move the arm base (40), and a monitoring controller (360) configured or programmed to monitor whether or not a monitoring point (PO) set with respect to the arm base (40) or the second robot arm (30) is within a monitoring area (AR), and change the monitoring area (AR) based on a posture of the second robot arm (30).