Dynamic Motion Scaling in Robotic Surgical Systems
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Solution Overview
Problem
Surgical robotic systems require frequent clutching and manual adjustment of motion scaling settings during procedures, which increases surgeon effort and delays the surgical process due to the need to pause and switch between different scaling settings for varying precision tasks.
Innovation Solution
A system that dynamically adjusts motion scaling factors based on the type of surgical instrument, procedure, and context, using sensors and databases to predict and apply optimal scaling factors automatically, allowing continuous operation without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If motion scaling settings are manually adjusted during surgical procedures, then precision and range of motion can be optimized for different tasks, but the surgical procedure is delayed due to pausing to change settings
Solution Approach 1:
The system dynamically adjusts motion scaling factors in real-time based on the surgical context, instrument type, and procedure phase. The scaling factor changes automatically during the procedure rather than requiring manual intervention, making the system adaptive without causing procedural delays.
Solution Approach 2:
The system autonomously determines the appropriate motion scaling factor by analyzing surgical context, instrument mounted on manipulator, and procedure type. The system serves itself by automatically selecting scaling parameters without requiring surgeon intervention to adjust settings.
2Measurement precision
If highly scaled-down motion is used for fine robotic motions, then precision is improved, but surgeon effort increases due to frequent clutching
Solution Approach 1:
The motion scaling factor is dynamically adjusted based on the surgical task at hand. When fine precision is needed, the system automatically applies higher scaling; when larger motions are needed, it reduces scaling. This dynamic adaptation eliminates the need for frequent manual clutching and scaling adjustments by the surgeon.
Solution Approach 2:
The system changes the motion scaling parameter automatically based on surgical context, instrument type, and procedure phase. This parameter adjustment occurs seamlessly during the procedure, maintaining precision when needed while reducing surgeon effort by eliminating frequent manual interventions.
3Adaptability or versatility
If motion scaling settings are changed from a menu, then the scaling can be adjusted for different surgical situations, but the procedure must pause for the user to switch settings
Solution Approach 1:
The system automatically selects and applies appropriate motion scaling factors based on the surgical context, eliminating the need for the surgeon to manually access menus and change settings. The system monitors surgical parameters and autonomously adjusts scaling to maintain optimal performance throughout the procedure.
Solution Approach 2:
The motion scaling adjustment occurs continuously and automatically during the surgical procedure without interruption. The system maintains continuous adaptation of scaling factors based on real-time surgical context, ensuring seamless transition between different surgical tasks without pausing the procedure.
Data Source
AI summary
A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.