Surgical Robot Collision Avoidance Using Non-Contact Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Medical robotic systems face challenges in predicting and preventing collisions, especially with dynamic objects, which can disrupt medical procedures and are difficult to avoid using existing technologies.
Innovation Solution
The implementation of sensors on kinematic components to detect contact parameters, allowing for real-time adjustments in configuration to minimize future collisions, including the use of force sensors and object maps to optimize robotic arm positions and movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic arms operate with fixed known configurations, then arm-to-arm collisions can be predicted and avoided, but collisions with dynamic objects cannot be detected and avoided
Solution Approach 1:
The patent replaces traditional mechanical collision avoidance (based on pre-programmed paths and fixed configurations) with a sensor-based detection system. Force sensors mounted on robotic arms detect contact forces with dynamic objects, enabling real-time identification and avoidance of collisions that cannot be predicted through mechanical planning alone.
Solution Approach 2:
The system implements continuous feedback through force sensors that monitor contact forces on robotic arms during operation. When a collision or contact with a dynamic object is detected, the system receives real-time feedback and adjusts the robotic arm configuration accordingly, enabling adaptive response to changing environmental conditions.
2Reliability
If sensors are added to detect contact parameters, then real-time collision detection is improved, but system complexity increases
Solution Approach 1:
The force sensors serve multiple functions: they detect collisions with dynamic objects, monitor contact forces during normal operation, and provide data for real-time configuration adjustment. This multi-functionality reduces the need for separate specialized sensors and systems, thereby limiting the increase in overall system complexity.
3Reliability
If real-time configuration adjustment is implemented, then future collisions are reduced, but procedure time may increase due to adjustments
Solution Approach 1:
The system performs preliminary configuration adjustments proactively based on sensor predictions of potential collisions, rather than reacting after collisions occur. By continuously monitoring force sensor data and pre-adjusting robotic arm configurations to avoid anticipated collisions, the system minimizes interruptions and maintains procedural efficiency.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution effectively reduces the occurrence of collisions, enhancing the safety and efficiency of medical procedures by allowing the robotic systems to adapt to changing environments and object positions.
Implementation Method 1
one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain
Data Source
AI summary
Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more objects detected within a vicinity of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more objects detected by the one or more sensors within the vicinity of the first kinematic chain.