Surgical Robot Arm Motion-Mode Switching With Collision Avoidance
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Solution Overview
Problem
Conventional surgical robot systems lack flexibility and safety in the operation of their mechanical arms due to inadequate control logic and poor safety performance.
Innovation Solution
A surgical robot control method and system that includes a master control module, interaction module, and multiple motion modules, enabling flexible switching between motion modes and incorporating safety features such as emergency stop, obstacle collision evasion, and real-time trajectory monitoring to ensure secure and reliable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional control logic is used in surgical robot, then the system structure is simple, but the operation flexibility and safety performance are poor
Solution Approach 1:
The control system is segmented into multiple independent arithmetic logic systems, each responsible for specific control functions. This segmentation enables flexible combination of different logic systems to achieve various operation modes while maintaining clear and manageable control logic structure.
Solution Approach 2:
The control system is designed with universal arithmetic logic systems that can be configured and combined in different ways to perform multiple control functions. This multi-functionality allows the system to adapt to various surgical scenarios and operation requirements without requiring completely different control architectures.
2Reliability
If conventional control system is used, then the device complexity is low, but the safety performance is poor
Solution Approach 1:
The control system incorporates feedback mechanisms where arithmetic logic systems continuously monitor system state and adjust control commands accordingly. This feedback enables real-time safety monitoring and automatic adjustment to prevent unsafe operations, thereby improving safety performance through structured control logic.
Solution Approach 2:
The control system performs preliminary safety checks and trajectory validations before executing mechanical arm movements. By pre-calculating safe operation paths and validating commands in advance, the system prevents unsafe operations before they occur, enhancing safety without requiring overly complex real-time intervention mechanisms.
Data Source
AI summary
This application provides a surgical robot control method, a computer device, and a surgical robot system. The surgical robot control method includes: receiving a user demand, and generating an interactive control command; generating a motion control command according to the interactive control command; and controlling a terminal of a mechanical arm to perform the motion control command. The motion control command includes controlling the terminal of the mechanical arm to act in accordance with a plurality of motion modes. The surgical robot control method may control the terminal of the mechanical arm to act in accordance with the plurality of motion modes through the motion control command, realize different motion schemes in various clinical application scenarios, and realize controlling the terminal of the mechanical arm to be flexibly switched between the plurality of motion modes in any application scenario through the interactive control command.