A safety joint with passive compliant and manual override mechanisms for medical robotics

TY - CHAP

T1 - A safety joint with passive compliant and manual override mechanisms for medical robotics

AU - Zheng, Jia

AU - Wang, Shuangyi

AU - Housden, James

AU - Hou, Zeng Guang

AU - Singh, Davinder

AU - Rhode, Kawal

N1 - Funding Information: * This work was funded by the Wellcome Trust IEH Award (102431) and National Natural Science Foundation of China (NSFC) (62003339). The authors acknowledged the supports from the Wellcome/EPSRC Centre for Medical Engineering (WT203148/Z/16/Z). Corresponding author: Shuangyi Wang ([email protected]). J. Zheng is with the School of General Engineering, Beihang University, Beijing 100191, China. S. Wang and Z. Hou are with the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China. J. Housden and K. Rhode are with the School of Biomedical Engineering and Imaging Sciences, King’s College London, London SE1 7EH, UK. D. Singh is with the Xtronics, Ltd., Gravesend, Kent DA12 2AD, UK. Publisher Copyright: © 2021 IEEE. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.

PY - 2021/3/4

Y1 - 2021/3/4

N2 - Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective approaches and therefore deserve in-depth study. In this study, we focus on the design of a novel back-drivable safety joint that incorporates a torque limiter with passive compliance and a manual override mechanism to disconnect the robotic joint from its drive train. The design and working principle of the proposed joint are explained, followed by the mathematical analysis of its performance and the impacts of parameters. An example of the design was manufactured and tested experimentally to validate the working concepts. It is concluded that the proposed multi-functional safety joint provides more versatility and customization to the design of bespoke medical robots and would limit the maximum torque that can be exserted onto the patient, allow the clinician to push the joint back, and enable the operator to switch back to manual override.

AB - Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective approaches and therefore deserve in-depth study. In this study, we focus on the design of a novel back-drivable safety joint that incorporates a torque limiter with passive compliance and a manual override mechanism to disconnect the robotic joint from its drive train. The design and working principle of the proposed joint are explained, followed by the mathematical analysis of its performance and the impacts of parameters. An example of the design was manufactured and tested experimentally to validate the working concepts. It is concluded that the proposed multi-functional safety joint provides more versatility and customization to the design of bespoke medical robots and would limit the maximum torque that can be exserted onto the patient, allow the clinician to push the joint back, and enable the operator to switch back to manual override.

UR - http://www.scopus.com/inward/record.url?scp=85106454612&partnerID=8YFLogxK

U2 - 10.1109/ISR50024.2021.9419379

DO - 10.1109/ISR50024.2021.9419379

M3 - Conference paper

AN - SCOPUS:85106454612

T3 - ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics

SP - 144

EP - 147

BT - ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021

Y2 - 4 March 2021 through 6 March 2021

ER -