Surgical Robot Fault Detection via Shared Control Communication
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Solution Overview
Problem
Current surgical robotic systems face challenges in real-time fault detection and safety measures, leading to increased communication burden and resource wastage, without providing a systematic solution for human body safety during minimally invasive surgeries.
Innovation Solution
A method for detecting faults in surgical robots that utilizes a Local Area Network (LAN) router to monitor and diagnose faults in master and slave embedded computers, employing alarm, emergency stop, and recovery mechanisms to ensure safety and reliability without additional detection components, allowing for manual operation and fault recovery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If additional detection signals are employed to monitor control computer nodes in real time, then fault detection capability is improved, but communication burden increases
Solution Approach 1:
The existing communication bus is made multi-functional by enabling it to carry both control signals and fault detection signals simultaneously. The master computer sends control commands while embedded computers return both execution status and self-diagnosis information through the same communication channel, eliminating the need for separate detection signal lines.
Solution Approach 2:
The fault detection function is merged with the existing control communication system. The embedded computers perform self-diagnosis and return fault information through the same communication bus used for control commands, combining monitoring and control functions into a unified communication framework.
2Reliability
If redundant equipments are adopted to take over faulty equipments, then system safety is improved, but system resources are wasted
Solution Approach 1:
The embedded computers perform self-diagnosis and self-monitoring of their own operational status. Each computer node autonomously detects its own faults and reports them to the master computer, eliminating the need for additional redundant hardware while maintaining system safety through continuous self-monitoring.
Solution Approach 2:
A feedback mechanism is established where embedded computers continuously monitor their own operational status and send fault information back to the master computer. This real-time feedback enables the master computer to detect faults and initiate appropriate safety measures without requiring redundant hardware components.
3Device complexity
If existing surgical robotic systems are used without specific fault detection methods, then device complexity is reduced, but human body safety is compromised
Solution Approach 1:
The embedded computers perform preliminary self-diagnosis and fault detection before faults actually occur or escalate. By continuously monitoring operational parameters and detecting potential issues in advance, the system can prevent harmful effects on the patient's body before they manifest.
Solution Approach 2:
A real-time feedback loop is established where the master computer receives fault information from embedded computers and immediately implements safety measures. This feedback mechanism ensures human body safety by enabling rapid response to detected faults without adding complex redundant hardware.
Data Source
AI summary
This invention relates to a method for detecting faults in the operating states of a surgical robotic system, wherein the surgical robotic system including a master computer, a master embedded computer and a plurality of slave embedded computers is provided; the master computer controls the master embedded computer and the slave embedded computers via the LAN router; the master embedded computer communicates with the slave embedded computers via the LAN router and a first communication bus. In the present invention, the master computer, the master embedded computer and the slave embedded computers can detect faults interactively. Safety and reliability of the operation of the surgical robotic system can be improved without increasing any additional detection components, and communication burden of the system can be effectively reduced. The present invention can be widely applied to a minimally invasive surgical robotic system.