Surgical Mounting Platform Motion Control for Precise Arm Alignment
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Solution Overview
Problem
Existing minimally invasive robotic surgical systems face challenges in maneuverability, ease of setup, space utilization, and mechanical complexity, with potential collisions between robotic devices during use, necessitating improved efficiency and ease of use.
Innovation Solution
The implementation of kinematic linkage structures and control systems that allow for actively driven or passive set-up joints, enabling manual articulation and alignment of robotic manipulators with surgical sites, with actively driven joints moving a platform structure in response to manual movement, and passive joints providing independent positioning, reducing mechanical complexity and enhancing setup efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic manipulators are manually articulated for setup, then ease of operation is improved, but alignment precision with surgical sites deteriorates
Solution Approach 1:
The patent replaces manual mechanical articulation with an automated control system that uses sensors and processors to calculate and drive the manipulators into precise alignment with surgical sites, eliminating the imprecision of manual setup while maintaining ease of operation through automated control
Solution Approach 2:
The system performs self-alignment by using its own sensors to detect the surgical site and automatically calculating the required manipulator positions, enabling the system to align itself without external intervention while maintaining high precision
2Manufacturing precision
If actively driven joints are used to move the platform, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The control system serves multiple functions: it detects surgical sites, calculates optimal manipulator positions, drives the manipulators into alignment, and monitors the procedure, thereby achieving high precision alignment without proportionally increasing overall system complexity through multi-functional integration
Solution Approach 2:
The patent merges the detection, calculation, and actuation functions into an integrated control system where sensors, processors, and actuators work as a unified team, reducing the need for separate complex subsystems while maintaining alignment precision
3Ease of operation
If multiple robotic manipulators are positioned independently, then maneuverability is improved, but collision risk increases
Solution Approach 1:
The control system continuously monitors the positions of all manipulators and adjusts their movements in real-time to maintain safe separation distances, providing feedback control that prevents collisions while preserving the maneuverability benefits of independent positioning
Solution Approach 2:
The system preemptively calculates and enforces minimum separation distances between manipulators before collisions can occur, using predictive algorithms to prevent harmful interactions while allowing full maneuverability within the safe operational envelope
Data Source
AI summary
Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.