Reaction Torque Transducer Verification in Robotic Surgical Drives
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Solution Overview
Problem
Current robotic surgical systems have limited ability to detect faults in Instrument Drive Units (IDUs) beyond high current draw, as they do not account for actual forces at the motor output, leading to incomplete fault detection.
Innovation Solution
Incorporating a torque transducer and sensor system that measures and compares torque applied by the motor to an acceptable range, generating a fault signal and providing feedback to clinicians through audible, visual, or haptic means if the torque exceeds this range, ensuring proper motor function and safety during surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If only motor current is monitored for fault detection, then the system is simple to implement, but the fault detection capability is limited and cannot identify different types of faults
Solution Approach 1:
The patent combines multiple sensing approaches (current sensing and torque sensing) into a unified fault detection system. The controller integrates data from both the current sensor and torque transducer to comprehensively assess motor health and detect various fault conditions, resolving the contradiction by merging simple and complex sensing methods into a coordinated system that achieves high reliability without excessive complexity.
Solution Approach 2:
The torque transducer serves multiple functions: it measures actual torque output, verifies current-to-torque relationships, detects mechanical faults, and provides diagnostic information about motor performance. This multi-functionality allows the system to achieve comprehensive fault detection capability while using a single integrated sensing component rather than multiple separate sensors.
2Measurement precision
If torque transducer verification is implemented, then fault detection accuracy is improved, but the device complexity increases
Solution Approach 1:
The system implements feedback by continuously comparing the torque measured by the torque transducer with the torque calculated from motor current. This verification loop allows the controller to detect discrepancies that indicate faults, achieving high measurement accuracy through cross-validation rather than relying on a single complex sensing system.
Solution Approach 2:
The patent uses electrical and computational methods to verify torque measurements rather than relying solely on complex mechanical sensing systems. The controller uses electrical current measurements and mathematical relationships to cross-validate the torque transducer readings, reducing mechanical complexity while maintaining measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances fault detection capabilities in robotic surgical systems by identifying various faults beyond high current draw, improving safety and reliability by providing real-time feedback on motor torque within acceptable ranges, thus preventing potential malfunctions during surgeries.
Implementation Method 1
The reaction torque transducer is configured to detect a mechanical property induced by torque applied by the motor. The mechanical property may be strain.
Data Source
AI summary
A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.