Design and control of a novel multi-state compliant safe joint for robotic surgery

In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When the end-effector of a surgical robot actuated by the compliant safe joints collides with patient's body, the compliance of the joints will protect the patient by absorbing part of the collision energy. Because of the system's special mechanical structure, the control methods should be different when it works under different states. We propose a simple algorithm to choose control methods so that the system can work both under rigid and flexible states with different controllers. We have built a prototype to validate the design and the controller.