Coupled Control Modes for Medical Robotic Systems
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Solution Overview
Problem
Current medical robotic systems face challenges in effectively accessing surgical sites, particularly when using the da Vinci Surgical System, and struggle with coordinating the movement of instruments and imaging systems within a common guide tube, leading to difficulties in achieving optimal dexterity and reach while maintaining good visualization without instrument interference.
Innovation Solution
The implementation of coupled control modes in medical robotic systems allows for direct control of primary devices while indirectly controlling secondary devices, optimizing workspace and dexterity, and preventing instrument collisions through advanced kinematic control and feedback mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If instruments and imaging systems are coordinated within a common guide tube, then device integration is improved, but workspace and dexterity are reduced
Solution Approach 1:
The system segments control into primary and secondary devices, allowing independent control of the primary surgical instrument while the secondary imaging system is automatically positioned based on the primary device's state, resolving the conflict between integrated control and workspace freedom
Solution Approach 2:
A control system intermediary automatically coordinates the secondary imaging system's position and orientation based on the primary device's configuration, enabling integrated control without restricting the primary instrument's workspace and dexterity
2Ease of operation
If direct control of primary devices is implemented, then ease of operation is improved, but automation complexity increases
Solution Approach 1:
The secondary imaging system performs self-positioning and self-orientation based on feedback from the primary device's state, automatically serving its own positioning needs without requiring complex automated control of the entire system
Solution Approach 2:
The control system uses feedback from the primary device's position and orientation to automatically adjust the secondary imaging system's configuration, providing intuitive operation through automatic adaptation rather than complex manual coordination
3Productivity
If coupled control modes are used, then productivity is improved, but device complexity increases
Solution Approach 1:
The control system dynamically adapts between different control modes (direct control of primary device with automatic secondary device positioning), allowing flexible switching that improves surgical efficiency without permanently increasing system complexity
Data Source
AI summary
A system with coupled control modes includes a first manipulator, a second manipulator, an input device for commanding movement of the first manipulator or the second manipulator, and one or more controllers. The one or more controllers are configured to detect movement of the input device; when movement of the first manipulator is responsive to movement of the input device: determine a commanded movement for the first manipulator from the detected movement of the input device and command the second manipulator to move in response, at least in part, to the commanded movement of the first manipulator; and when movement of the second manipulator is responsive to the movement of the input device: determine a commanded movement for the second manipulator from the detected movement of the input device and command the first manipulator to move in response, at least in part, to the commanded movement of the second manipulator.