Robotic Surgical Arm Controller Speed and Acceleration Limits
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Solution Overview
Problem
Conventional robotic surgical systems face issues with protecting motor components and reducing vibrations in manipulator arms, particularly when large operations are performed, leading to excessive speed and potential damage.
Innovation Solution
A robotic surgical system with a controller that limits speed and acceleration command values within predetermined ranges to prevent excessive movement and vibration, thereby protecting motor components and reducing arm vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the amount of operation received by the input handle is large, then the movement range of the surgical instrument is improved, but the motors at arm joints rotate at excessively high speed causing component damage
Solution Approach 1:
The controller dynamically adjusts control parameters (speed command value and acceleration command value) based on the relationship between the current arm configuration and the target position. When the arm is in configurations prone to excessive speed or vibration, the controller modifies these parameters to maintain safety margins, thereby preventing motor damage while still allowing full movement range.
2Adaptability or versatility
If the amount of operation received by the input handle is large, then the surgical instrument can reach broader positions, but arm vibrations occur due to large amount of movement per unit time
Solution Approach 1:
The controller calculates the amount of movement per unit time based on the current arm configuration and target position, and dynamically adjusts the speed command value and acceleration command value accordingly. This prevents excessive movement that would cause vibrations while still enabling the arm to reach broader positions within safe operational parameters.
3Speed
If the speed command value is increased to improve response time, then the surgical instrument can move faster, but the motors may rotate at excessively high speed
Solution Approach 1:
The controller dynamically adjusts the speed command value based on the current arm configuration and target position. Rather than using a fixed high speed command, the system calculates appropriate speed limits considering the arm's current state, thereby maintaining fast response when safe while preventing excessive motor rotation that would cause damage.
4Speed
If the acceleration command value is increased to improve positioning speed, then the surgical instrument can reach target positions faster, but arm vibrations are induced
Solution Approach 1:
The controller dynamically adjusts the acceleration command value based on the current arm configuration and target position. By calculating appropriate acceleration limits considering the arm's current state, the system achieves fast positioning when safe while preventing excessive acceleration that would induce vibrations.
Data Source
AI summary
A robotic surgical system includes a controller configured or programmed to limit a speed command value within a range of a speed limit value, and limit an acceleration command value within a range of an acceleration limit value.