Surgical Robot Safe Zone Control via Force Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical robots face challenges in accurately determining the boundary for bone cutting areas, leading to operational errors due to the influence of friction and nonlinear factors, which can result in excessive removal of soft and bone tissues.
Innovation Solution
A control method for surgical robots that defines a safe zone and a warning boundary based on edge information of the surgical object, using feedback information to compensate drive information and reduce the impact of external environmental forces, thereby minimizing the risk of operational errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional boundary control methods are used for surgical robot, then the robot can be limited to move within a defined range, but the control becomes difficult and inaccurate due to friction and nonlinear factors
Solution Approach 1:
The patent implements a feedback mechanism where the actual position and posture of the manipulation terminal are continuously monitored and compared with the predetermined safe zone boundaries. Based on this feedback, the control system dynamically adjusts drive information to compensate for external environmental forces and maintain the terminal within the safe zone, thereby improving boundary control accuracy without excessive complexity
Solution Approach 2:
The patent introduces an intermediary computational layer that processes the relationship between the manipulation terminal's position, external forces, and drive commands. This intermediary computation calculates the necessary compensation for external environmental forces before applying control commands, serving as a mediator that simplifies the overall control complexity while maintaining reliability
2Adaptability or versatility
If the manipulation terminal moves out of the safe zone, then the surgical robot can access broader areas, but operational errors occur due to external environmental forces
Solution Approach 1:
The patent applies preliminary anti-action by pre-predetermining the safe zone boundaries based on edge information of the surgical object before surgery begins. The control system proactively prevents the manipulation terminal from moving beyond these boundaries by continuously monitoring position and applying compensatory drive information, thereby counteracting external environmental forces before operational errors can occur
Solution Approach 2:
The control system uses real-time feedback on the manipulation terminal's position and posture to determine whether the terminal remains within the predetermined safe zone. Based on this feedback, the system dynamically adjusts drive commands to maintain operational accuracy while allowing appropriate movement within the safe boundaries
Data Source
AI summary
A surgical robot, a control method, a system and a readable storage medium are disclosed. The surgical robot includes a manipulation terminal. The control method of the surgical robot includes: defining a safe zone and a warning boundary outside the safe zone, based on edge information of the surgical object; and based on a distance function between a current position of the manipulation terminal and the warning boundary, as well as on first feedback information from the manipulation terminal and second feedback information produced from an external environmental force, compensating drive information applied by the surgical robot to the manipulation terminal so that, when the manipulation terminal moves out of the safe zone, an impact of the external environmental force on driving of the manipulation terminal is reduced, eliminated or restricted.