Surgical Robot Collision Avoidance via Predictive Tracking

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Solution Overview

Problem

Existing surgical robotic systems face challenges in effectively preventing collisions between multiple robotic arms, surgical tools, personnel, and patients due to unpredictable movements and changing environments in the surgical field.

Innovation Solution

A collision avoidance system that employs a common controller to kinematically control multiple surgical robotic arms and a surveillance arm equipped with cameras or sensors. This system continuously tracks the positions of all objects in the surgical field, including patient anatomy and surgical personnel, to predict and prevent collisions by dynamically repositioning the robotic arms.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If collaborative robots (cobots) are used to detect collisions and stop the arm after detection, then collision detection capability is improved, but the detection threshold of one- to two-kilogram force is too high for surgical environments where even small collision forces could injure the patient

Engineering Contradiction:

Improvecollision detection capabilityVSAvoidcollision force threshold

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary tracking and prediction of robotic arm positions and trajectories before collisions occur. By continuously monitoring the surgical field and predicting future positions, the system can prevent collisions proactively rather than reacting after detection, thereby avoiding even minimal collision forces that could harm the patient.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces mechanical collision detection systems (cobots with force sensors) with an optical tracking and predictive algorithm system. Instead of relying on mechanical force detection thresholds, the system uses camera-based tracking to monitor positions and predicts potential collisions through computational algorithms, enabling detection of potential collisions at forces below one kilogram.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If surgical robotic systems track positions of robotic arms in real time using cameras or sensors, then collision prediction capability is improved, but existing systems are often designed for single-arm robotic systems and cannot track all arms in multiple-arm systems as well as patient anatomy and surgical personnel

Engineering Contradiction:

Improvecollision prediction capabilityVSAvoidtracking coverage for multiple arms and personnel

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The surveillance arm with mounted camera is designed to serve multiple functions: tracking multiple robotic arms, monitoring patient anatomy, and observing surgical personnel positions. This universal tracking capability allows the system to handle complex multi-arm surgical scenarios while maintaining comprehensive situational awareness of all objects in the surgical field.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent introduces a dedicated surveillance arm as an intermediary component that carries the camera and performs specialized tracking functions. This separate surveillance arm acts as a mediator between the surgical arms and the control system, providing comprehensive visual data without interfering with the primary surgical operations performed by the other arms.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Loss of information

If a surveillance arm with camera is added to track objects in the surgical field, then collision avoidance information is improved, but the system complexity increases with additional hardware components

Engineering Contradiction:

Improvesurgical field tracking informationVSAvoidnumber of robotic arms and sensors

Core Design Contradiction:

Loss of informationVSDevice complexity

Solution Approach 1:

The surveillance arm is designed as a multi-functional component that performs both surgical tasks and collision detection functions. By making the surveillance arm universal in its capabilities, the system avoids adding dedicated separate detection hardware, thereby reducing overall system complexity while maintaining comprehensive tracking information.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS20250143813A1Robotic active and dynamic collision avoidance system and method

Publication Date: 2025.05.08 LEM SURGICAL AG

AI summary

Systems and methods for preventing collisions between robotic arms of a multi-arm surgical robotic systems and objects in a surgical field in are described. The positions and motions of the surgical robotic are tracked kinematically while the positions of the objects are tracked by a camera or other sensor held on a surveillance arm of the surgical robot. Each of the robotic surgical arms and the surveillance arm is mounted on a common chassis or cart to define a single surgical space coordinate system to facilitate tracking.