Basket Drive Mode for Robotic Ureteroscopy
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Solution Overview
Problem
Conventional medical procedures for removing urinary stones, such as ureteroscopy, require coordinated efforts between a physician and an assistant to control the basket retrieval device, which is cumbersome and limits the physician's flexibility and control.
Innovation Solution
A robotic system with a robotic manipulator that can manipulate a medical instrument with a basket, allowing for controlled opening and closing speeds, and an input device for user interactions to initiate pre-programmed motions, such as rapid open and rapid close, to facilitate more dynamic and unilateral control of the basket.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional coordinated control between physician and assistant is used, then the basket retrieval device can be controlled, but the operation becomes cumbersome and limits physician flexibility
Solution Approach 1:
The robotic manipulator autonomously controls the basket retrieval device based on high-level commands from the physician, eliminating the need for the physician to manually coordinate with an assistant. The system performs complex manipulation tasks independently while responding to simple trigger inputs.
Solution Approach 2:
The robotic manipulator serves as an intermediary between the physician's simple commands and the complex basket manipulation tasks. It translates high-level instructions into precise motorized actions, reducing the cognitive and operational burden on the physician.
2Productivity
If pre-programmed motions with multiple speeds are implemented, then operation efficiency improves, but control system complexity increases
Solution Approach 1:
The robotic manipulator provides dynamically adjustable basket control with multiple pre-programmed speeds (first opening speed, second opening speed faster than first, first closing speed, second closing speed faster than first). This allows the system to adapt its motion characteristics to different procedural requirements while maintaining a relatively simple interface.
Solution Approach 2:
The system changes operational parameters (opening speed, closing speed) based on pre-programmed motion sequences. By varying speed parameters according to the procedural stage, the system optimizes efficiency without requiring complex real-time decision-making from the operator.
3Loss of time
If rapid opening and closing speeds are added, then procedural time is reduced, but precision control may be compromised
Solution Approach 1:
The system employs periodic action sequences with alternating speed regimes - using faster speeds for transitional phases and slower speeds for precision phases. This allows rapid basket opening/closing when needed while maintaining control precision during critical moments through speed modulation.
Data Source
AI summary
A robotic system includes a robotic manipulator configured to: manipulate a medical instrument having a basket; open the basket at a first opening speed and a second, faster opening speed; and close the basket at a first closing speed and a second, faster closing speed. The system includes an input device configured to receive one or more user interactions and initiate one or more actions by the robotic manipulator, including directly controlled movement and/or pre-programmed motions. Control circuitry of the robotic system is configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed motion of the robotic manipulator to open the basket at the second, faster opening speed; and in response to receiving a second user interaction via the input device, trigger a second pre-programmed motion to close the basket at the second, faster closing speed.