Capacitive Hover Sensing in Surgical Robotic Arms for Collision Avoidance
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Solution Overview
Problem
Surgical robotic arms face challenges in avoiding collisions with objects in the surgical arena, including patients, staff, and other robotic components, due to the lack of effective collision detection systems.
Innovation Solution
Incorporation of capacitive hover sensors into the surgical robotic arm to detect the presence and orientation of objects using capacitive sensing principles, allowing for collision prevention by stopping movement or triggering alarms before collisions occur.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If surgical robotic arms are equipped with collision detection systems, then collision prevention capability is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical collision detection systems with capacitive sensing technology. The capacitive sensors detect changes in electrical field caused by proximity of objects, enabling collision prevention without mechanical contact. This substitution reduces mechanical complexity while maintaining or improving detection reliability.
Solution Approach 2:
The capacitive sensors act as intermediaries between the robotic arm and potential obstacles. Instead of direct mechanical interaction, the electrical field serves as an intermediary that detects the presence and proximity of objects, enabling indirect collision detection and prevention.
2Measurement precision
If capacitive sensors are integrated into robotic arm links, then collision detection precision is improved, but manufacturing complexity increases
Solution Approach 1:
The patent merges the capacitive sensing functionality directly into the robotic arm links themselves. The sensors are integrated into the link structure, allowing the links to perform both their mechanical function and sensing function simultaneously. This integration improves detection precision by placing sensors at critical locations while managing manufacturing complexity through unified design.
Solution Approach 2:
The robotic arm links are designed to serve multiple functions: mechanical support, movement, and collision detection. By making the links multi-functional, the patent improves detection precision without requiring separate dedicated sensor housings or additional structural components, thereby managing manufacturing complexity.
3Reliability
If multiple sensors are placed at strategic locations, then collision detection coverage is improved, but device complexity increases
Solution Approach 1:
The patent divides the collision detection function across multiple sensor locations on different robotic arm links. Each sensor monitors a specific zone or aspect of potential collision risk. This segmentation improves overall detection coverage by distributing sensing responsibilities, while the modular nature of individual sensors helps manage system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Effectively prevents collisions by detecting potential obstacles and adjusting the robotic arm's movement or alerting the user, ensuring safe and controlled surgical procedures.
Implementation Method 1
the capacitive hover sensors may be sensors which can detect the presence, position and/or orientation of objects with respect to the sensor using capacitive sensing principles
Implementation Method 2
When a pad is excited by a voltage source, the pad creates an electrical field around it. When a conductive object approaches the pad, it interferes with the field and forms/changes the capacitance of the pad.
Data Source
AI summary
A surgical robotic system including a surgical table, a surgical robotic manipulator coupled to the surgical table and comprising a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator, at least one of the plurality of links or the plurality of joints having a portion that faces another of the plurality of links or the plurality of joints, a proximity sensing assembly coupled to the portion of the at least one of the plurality of links or the plurality of joints, the proximity sensing assembly operable to detect an object prior to the surgical robotic manipulator colliding with the object and to output a corresponding detection signal, and a processor operable to receive the corresponding detecting signal and cause the manipulator or the object to engage in a collision avoidance operation.