Surgical Robot Arm Collision Detection Using Relative Position Models
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Solution Overview
Problem
Laparoscopic surgery using surgical robots is prone to collisions between robot arms, leading to issues such as instrument shaking, damage to surgical instruments and tissue, which existing technologies fail to effectively detect and prevent.
Innovation Solution
A method and apparatus for detecting collisions in a surgical robot system by determining relative position and volume information of robot arms using reference points, depth information scans, and dynamic information from robot arm motors, enabling independent collision detection and prevention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surgical robots are used for laparoscopic surgery, then surgical precision and accuracy are improved, but the risk of collision between robot arms increases
Solution Approach 1:
The system performs preliminary collision detection by calculating predicted positions of robot arms before actual movement occurs. The controller computes future positions based on current motion states and detects potential collisions in advance, allowing preventive action to be taken before the collision actually happens.
Solution Approach 2:
The system continuously monitors the actual positions of robot arms during movement and compares them with predicted positions. When a collision is detected or predicted, the system provides feedback to the controller, which then adjusts the motion commands to avoid the collision while maintaining surgical precision.
2Reliability
If real-time collision detection is implemented, then surgical safety is improved, but system complexity increases
Solution Approach 1:
The system introduces a dedicated collision detection unit that acts as an intermediary between the robot arm controllers and the main control system. This unit专门 handles collision detection calculations using simplified models of robot arm positions and volumes, reducing the computational burden on the main controller and avoiding the need for complex integrated safety systems.
Solution Approach 2:
The collision detection system uses simplified copies or representations of the robot arm geometries (volume information) rather than performing complex real-time 3D modeling. These pre-defined volume models allow for efficient collision detection calculations while maintaining accuracy sufficient for safety purposes.
3Object-affected harmful factors
If collision detection technology is added to surgical robots, then damage prevention is improved, but device complexity increases
Solution Approach 1:
The system replaces complex mechanical collision avoidance mechanisms (such as physical barriers or mechanical interlocks) with computational methods. The collision detection unit uses mathematical calculations based on robot arm positions and volume information to detect potential collisions, eliminating the need for additional mechanical safety components.
Data Source
AI summary
Provided is a method for detecting a collision of a surgical robot system including a first surgical robot and a second surgical robot. The method includes: determining relative position information between the first surgical robot and the second surgical robot; determining position information of at least one first robot arm provided in the first surgical robot and at least one second robot arm provided in the second surgical robot with respect to a reference point based on the relative position information; and determining whether a collision occurs in at least a portion of the first robot arm and the second robot arm based on the position information of the first robot arm and the second robot arm with respect to the reference point and volume information of the first surgical robot and the second surgical robot.