Surgical Robot Motion Boundaries for Remote Center Safety
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Solution Overview
Problem
The mechanical arm of a surgical robot risks contacting or squeezing the patient during surgery due to its larger workspace compared to the required surgical operation, and there is a lack of external feedback for the lead surgeon, leading to potential secondary injuries.
Innovation Solution
The surgical robot is equipped with a mechanical arm and a control device that sets a current posture of an instrument holder as a motion boundary around a remote center of motion, controlling it to move in a preset mode to prevent collisions and ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the mechanical arm is allowed to move freely with a large workspace, then the operational versatility is improved, but the risk of contacting or squeezing the patient increases
Solution Approach 1:
The system establishes motion boundaries in advance by setting the current posture of the instrument holder as a reference point. The control device calculates boundary positions based on the mechanical arm's current state and prevents movement beyond these boundaries, thereby preventing potential patient contact before it can occur.
Solution Approach 2:
The control device continuously monitors the mechanical arm's position and compares it against the pre-established motion boundaries. When the boundary is approached or reached, the system provides feedback by controlling the instrument holder to move in a preset motion mode that ensures it does not exceed the safe movement range, thus preventing patient contact.
2Object-affected harmful factors
If the instrument holder is constrained to move within a limited range, then patient safety is improved, but the operational flexibility deteriorates
Solution Approach 1:
The motion boundary is not a fixed constraint but is dynamically adjusted based on the mechanical arm's current posture and the preset motion mode. When the instrument holder reaches the boundary, it transitions to a preset motion mode that allows controlled movement while ensuring it does not contact the patient, thereby maintaining operational flexibility within safety limits.
3Adaptability or versatility
If the lead surgeon operates from a remote console without external feedback, then remote surgery capability is improved, but the awareness of mechanical arm position deteriorates
Solution Approach 1:
The control device provides automated feedback by monitoring the mechanical arm's position and enforcing motion boundaries. This feedback mechanism compensates for the surgeon's lack of direct visual feedback, ensuring the mechanical arm operates within safe limits even though the surgeon cannot see its exact position from the remote console.
Data Source
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AI summary
The present disclosure discloses a surgical robot and a controlling method, a system, and a medium. The surgical robot includes: a mechanical arm and a control device, where an end of the mechanical arm is provided with an instrument holder for installing multiple surgical instruments. The control device is configured to control movement of the mechanical arm so that the multiple surgical instruments rotate around the same remote center of motion, and: in response to a boundary setting instruction, set the current posture of the instrument holder as the motion boundary for the instrument holder's movement around the remote center of motion; in response to the instrument holder rotating around the remote center of motion to the motion boundary, control the instrument holder to move in a preset motion mode. Using the solution of the present disclosure, the function of intraoperatively preventing the mechanical arm from squeezing the patient is added to the surgical robot, avoiding secondary injury to the patient caused by abnormal collisions, and improving safety and reliability of the surgical robot's operation.