Dependent Surgical Robotic Arm Control for Coordinated Motion
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Solution Overview
Problem
Current surgical robotic systems require frequent manual switching of control between independent surgical robotic arms, leading to workflow issues and dependence on the surgeon's skills for successful multi-robotic arm tasks.
Innovation Solution
Implementing a spatial geometric relationship between independent and dependent surgical robotic arms, where the motion of the dependent arm is automatically controlled relative to the independent arm, using input devices such as handles or joysticks, to reduce the need for manual control switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If each surgical robotic arm is operated independently, then each arm can be precisely controlled, but the operator must frequently switch control between arms causing workflow issues
Solution Approach 1:
The patent merges the control of multiple surgical robotic arms by establishing a master-slave relationship where one arm (master) is controlled by the operator and other arms (slaves) automatically follow based on spatial geometric relationships. This combines independent control precision with automated coordination to eliminate frequent switching and improve workflow efficiency.
Solution Approach 2:
The system dynamically adjusts the control mode of surgical robotic arms during surgical tasks. The operator can switch between independent control mode and dependent follow mode, allowing the system to adapt to different surgical requirements while maintaining both precision and efficiency.
2Measurement precision
If the operator manually switches control between surgical robotic arms, then each arm can be precisely controlled for specific tasks, but the success of multi-robotic arm tasks heavily depends on the surgeon's skills
Solution Approach 1:
The surgical robotic system performs self-coordination through automated follow mode where slave arms automatically track the master arm's movements based on predefined spatial relationships. This reduces the burden on the operator and minimizes dependency on surgeon skills for coordinating multiple arms, while maintaining precise task execution.
Solution Approach 2:
The system implements feedback mechanisms where the positions and movements of the master arm are continuously monitored and used to automatically adjust the positions of slave arms. This closed-loop control ensures precise task execution without requiring the operator to manually coordinate each arm's movements.
3Adaptability or versatility
If multiple surgical robotic arms are controlled independently, then each arm has full mobility, but synchronized motion for surgical tasks requires frequent control switching
Solution Approach 1:
The control system is segmented into independent control modules for each surgical robotic arm. The master arm maintains full independent mobility while slave arms have automated control modules that follow the master's movements. This segmentation allows each arm to maintain its mobility capabilities while enabling efficient synchronized operation through selective coupling.
Data Source
AI summary
A motion dependency surgical robotic system (100) employs an independent robotic arm (20), a dependent robotic arm (21), and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space.