Surgical Robot Power-Enable Circuit for Fail-Safe Motion Control
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Solution Overview
Problem
Existing robot-assisted surgical systems rely on multi-sensor combinations to prevent mis-operations, but they fail to address risks from software malfunctions or single sensor failures, leading to potential hazards during teleoperation.
Innovation Solution
Implementing a dual control loop system with a logic AND circuit and a switch element to manage the power supply of the automated surgical device, ensuring it remains off until all sensors confirm operator readiness, and providing feedback circuits for reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If emergency stop switch is used when software failure occurs, then device control can be stopped, but response time is delayed and hazard may already occur
Solution Approach 1:
The system performs preliminary action by continuously monitoring sensor status through the hardware control loop and automatically controlling the power supply switch based on sensor feedback. This preliminary automated control eliminates the need for operator intervention in emergency situations, ensuring the power supply is cut off immediately when sensor status indicates a problem, rather than waiting for the operator to press the emergency stop button.
Solution Approach 2:
The hardware control loop implements continuous feedback by monitoring sensor status and automatically adjusting the power supply switch state. This feedback mechanism ensures that when sensor status changes (indicating operator un readiness or system anomaly), the system automatically responds by controlling the power supply, providing real-time safety without delay.
2Adaptability or versatility
If software control instructions are used to enable automated driving system, then operation flexibility is improved, but single software failure can cause unintended movement
Solution Approach 1:
The control system is divided into software control loop and hardware control loop that independently monitor and control the power supply. The software loop provides flexible control instructions based on complex sensor analysis, while the hardware loop provides a simple, fail-safe control path that directly responds to critical sensor status changes. This segmentation allows the system to maintain operational flexibility through software while ensuring safety through independent hardware control.
Solution Approach 2:
The hardware control loop acts as a pre-prepared safety cushion against software failure. By having an independent hardware control path ready in advance that can directly control the power supply switch based on sensor status, the system provides a safety backup that activates automatically when software control fails, preventing unintended movement without affecting normal flexible operation.
Data Source
AI summary
An operation enabling control system and a robot-assisted surgical device having the operation enabling control system are disclosed. The operation enabling control system includes a switch element and a logic AND circuit. A first terminal of the switch element is connected with a power supply. A second terminal of the switch element is connected with an automated driving system of a robot-assisted surgical system. The logic AND circuit comprises a first input terminal and a second input terminal. The first input terminal is configured to receive a sensor status of the robot-assisted surgical system. The second input terminal is configured to receive a control signal. An output terminal of the logic AND circuit is connected with a control terminal of the switch element.