Surgical Robot Arm Power Failure Control System
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Solution Overview
Problem
Existing surgical robotic systems lack a reliable mechanism to manage power failures, which can lead to instability and unsafe conditions during surgical procedures.
Innovation Solution
A control system for a surgical robotic system that operates in both full power and reduced power modes, allowing the system to detect power failures, lock joints to maintain position, and transition back to full power when the failure ceases, while ensuring sufficient battery capacity is available.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the surgical robot arm is powered by a first power source (mains power supply) in full power mode, then the robot can operate with full functionality and precision, but the system becomes vulnerable to power failures that can lead to instability and unsafe conditions
Solution Approach 1:
The system performs preliminary action by detecting power failures before they cause harmful effects. The control system continuously monitors the power source and detects failures in advance, allowing it to switch to a second power source (battery) before instability or unsafe conditions occur during surgical procedures
Solution Approach 2:
The system applies beforehand cushioning by having a second power source (battery) ready in advance to cushion against the harmful effects of power failures. This backup power source ensures continuous operation and prevents the harmful impact of complete power loss during critical surgical moments
2Object-affected harmful factors
If the control system locks joints to maintain position during power failure, then patient safety is ensured by preventing instrument advancement, but the robot loses operational capability until power is restored
Solution Approach 1:
The system applies dynamics by transitioning between different operational states based on power availability. During power failure, the control system dynamically locks the joints to maintain position and prevent harmful instrument advancement. When power is restored, the system dynamically transitions back to operational mode, allowing continuous surgical procedures without permanent loss of functionality
3Duration of action of stationary object
If the system uses a second power source (battery) during power failure, then operational continuity is maintained, but battery capacity is consumed reducing available operating time
Solution Approach 1:
The system applies periodic action by using the second power source (battery) only during power failure periods rather than continuously. The control system switches to battery power when needed and returns to the first power source when power is restored, minimizing battery capacity consumption while maintaining operational continuity during critical failure periods
Data Source
AI summary
A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, he control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting inputs from the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and control the surgical robot arm in a locked mode by sending control signals to lock joints of the surgical robot arm; whilst in the reduced power mode, detect a cessation of the power failure; and in response to detecting the cessation of the power failure, disable the reduced power mode, re-enable the full power mode, and control the surgical robot arm in the surgical mode.