Surgical Robot Arm Collision Avoidance via Link Positioning
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Solution Overview
Problem
In surgical robot systems, the manipulators are arranged adjacent to each other, leading to a risk of the robot arm contacting adjacent manipulators when bent, which can cause collisions and operational issues.
Innovation Solution
The surgical robot system incorporates robot arms with multiple degrees of freedom, including at least seven degrees of freedom, and a control device that ensures a first portion of a link is located between a base and tip portion when viewed from a specific direction, preventing contact with peripheral objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If manipulators are arranged adjacent to each other along a circular-arc member, then space utilization is improved, but the risk of robot arm contact with adjacent manipulators increases
Solution Approach 1:
The patent controls the robot arm in three-dimensional space by specifying the position of a point on the first link relative to the base and tip portions when viewed from a direction parallel to the rotation axis. This spatial control in multiple dimensions prevents contact with adjacent manipulators while maintaining compact arrangement.
Solution Approach 2:
The patent uses a robot arm with at least seven degrees of freedom, adding an extra degree of freedom beyond the typical six. This additional parameter allows for more precise control of the arm's configuration, enabling the arm to avoid adjacent manipulators while reaching target positions.
2Adaptability or versatility
If robot arm is operated to be bent for surgical access, then surgical versatility is improved, but contact with peripheral objects becomes more likely
Solution Approach 1:
The control method specifies the position of a point on the first link in three-dimensional space relative to the base and tip portions. This multi-dimensional control enables the arm to bend and reach difficult surgical angles while maintaining safe clearance from peripheral objects through precise spatial positioning.
Solution Approach 2:
The control device continuously monitors the position of the first link and adjusts the robot arm's configuration to maintain the specified spatial relationship. This feedback control ensures that even when the arm is bent for surgical access, it does not contact peripheral objects.
3Measurement precision
If robot arm has at least seven degrees of freedom, then control precision is improved, but device complexity increases
Solution Approach 1:
The patent applies the seven-degree-of-freedom configuration specifically to one robot arm while keeping other components relatively simple. The additional degree of freedom is localized to the robot arm mechanism, allowing precise control where needed without unnecessarily complicating the entire surgical system.
Data Source
AI summary
A surgical robot (10) includes robot arms (130), an arm base (120), and a control device (30). Each of the robot arms includes a base portion (138), a tip portion (137) that can hold a medical instrument (150), and links (131 to 136). The link (131) adjacent to the base portion is connected to the base portion through a rotational joint (JA1). The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion (134aa) of a first link (134) is located between a second portion (138a) of the base portion and a third portion (JA7a) of the tip portion.