Robotic Surgical Operation Unit Sway Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic surgical systems experience instability during linear operation due to the light feeling of the operation unit, leading to swaying, which compromises the stability and precision of the surgical procedures.
Innovation Solution
A robotic surgical system with an operation apparatus and control method that applies a force in the opposite direction of the operation unit's movement in a three-axis Cartesian coordinate system, using drivers to counteract the light operation feeling and enhance stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If electric motors generate forces to make the operation unit feel light, then ease of operation is improved, but stability deteriorates causing the operation unit to sway during linear operation
Solution Approach 1:
The system dynamically adjusts the force characteristics of the operation unit by controlling the electric motors to generate forces that compensate for friction while maintaining stability. The controller adjusts motor output based on operational conditions to achieve both light operation feeling and stability during linear movement.
Solution Approach 2:
The system changes the force parameters by adjusting motor torque output based on operational velocity and friction conditions. The controller modifies the force generation parameters to compensate for friction forces while preventing swaying, achieving optimal operation feeling and stability.
2Ease of operation
If the operation unit is made to feel light through motor force compensation, then ease of operation is improved, but operation precision deteriorates due to swaying
Solution Approach 1:
The controller uses feedback from operational velocity and friction conditions to adjust motor forces in real-time. This feedback mechanism ensures that the operation unit maintains stability while feeling light, preventing swaying that would compromise precision during linear operations.
Solution Approach 2:
The system dynamically changes motor force parameters based on operational conditions to maintain both light operation feeling and precision. The controller adjusts torque output to compensate for friction while preventing the swaying that would reduce operational precision.
Data Source
AI summary
A robotic surgical system according to this disclosure includes a controller configured to control a driver(s) to apply a force in a direction opposite to a direction of operation of an operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other.