Surgical Robot Arm Collision Avoidance via Proximity Feedback
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Solution Overview
Problem
Conventional surgical robotic systems lack sufficient feedback mechanisms, leading to potential collisions between the robotic arm and the patient, causing injury and damage, due to limited ability to sense contact information during steep angle maneuvers.
Innovation Solution
Incorporating a sensor system that outputs proximity signals to a surgical control computer, which determines actual or predicted collisions and performs remedial actions such as displaying warnings or inhibiting arm movement to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm is allowed to move freely to perform steep angle maneuvers, then surgical precision and instrument positioning capability are improved, but the risk of collision with the patient increases causing injury and damage
Solution Approach 1:
The patent implements a feedback mechanism using proximity sensors that continuously monitor the spatial relationship between the robotic arm and patient. When the sensor detects that the robotic arm is approaching a dangerous proximity threshold, it sends a signal to the control system, which then generates a warning to the surgeon or automatically restricts further movement in the dangerous direction. This closed-loop feedback system enables the robotic arm to maintain high positioning capability while dynamically preventing collisions through real-time monitoring and responsive control.
2Reliability
If proximity monitoring and remedial actions are implemented, then patient safety and robotic arm protection are improved, but system complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The patent introduces a proximity sensor as an intermediary component that bridges the physical space between the robotic arm and patient. This sensor acts as a mediator that detects spatial relationships and translates them into electrical signals for the control system. By using this intermediary sensing mechanism, the system achieves enhanced safety and reliability without requiring complex direct interaction management between the robotic arm and patient, thereby managing system complexity through modular sensor integration.
3Object-affected harmful factors
If the robotic arm movement is restricted to prevent collisions, then patient safety is improved, but surgical productivity and operation efficiency decrease
Solution Approach 1:
The patent implements dynamic movement restrictions rather than static limitations. The proximity sensor continuously monitors the robotic arm's position relative to the patient, and the control system dynamically adjusts movement constraints based on real-time spatial conditions. When the robotic arm operates in safe zones, full movement freedom is maintained for surgical efficiency. When approaching dangerous zones, restrictions are dynamically applied only in the specific directions that would cause collision, allowing movement in other directions to continue uninterrupted. This dynamic approach preserves surgical productivity while preventing collisions.
Data Source
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AI summary
Surgical robotic systems including a surgical robot, a sensor, and a surgical control computer are disclosed. To determine an actual or predicted collision of a robotic arm of the surgical robot with a patient, the sensor is configured to output a proximity signal indicating proximity of the robotic arm to a patient while the robotic arm is adjacent to the patient. A processor of the surgical control computer receives the proximity signal from the sensor and determines when the robotic arm has collided with the patient or is predicted to collide with the patient based on the received proximity signal. In response to determining such an actual or predicted collision, the processor performs a remedial action. By having surgical robotic systems perform remedial action(s) responsive to determining an actual or predicted collision, collisions between the robotic arm and the patient can be reduced and/or eliminated.