Dynamic Scaling Input Handle for Robotic Surgery
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Solution Overview
Problem
Robotic surgical systems require surgeons to frequently 'clutch' and reposition input handles to avoid the edge of their motion range, leading to time-consuming and distracting procedures due to the need for scaling down hand movements, which increases the frequency of clutching as the scaling factor increases.
Innovation Solution
A robotic surgical system with a processing unit that varies scaling factors based on the distance of the input handle from the workspace center, allowing for different scaling when moving towards or away from the center, reducing the need for clutching by maintaining tool movement alignment and centering the input handle within the workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a scaling factor is used to scale down surgeon's hand movements for precise end effector control, then manufacturing precision of the surgical procedure is improved, but the frequency of clutching operations increases and procedural time increases
Solution Approach 1:
The patent implements dynamic scaling factors that automatically adjust based on the input handle's position within the workspace. When the handle approaches the boundary, the scaling factor decreases, allowing larger input movements to produce the same end effector displacement, thereby reducing the frequency of clutching operations and minimizing procedural time while maintaining precision during fine positioning tasks
2Manufacturing precision
If a scaling factor is used to scale down surgeon's hand movements, then end effector control precision is improved, but the ease of operation deteriorates due to frequent clutching requirements
Solution Approach 1:
The system dynamically adjusts the scaling factor based on real-time handle position feedback. As the handle approaches the workspace boundary, the scaling factor is automatically reduced, enabling the surgeon to continue moving the handle smoothly without clutching. This maintains ease of operation while preserving precision control when the handle is positioned optimally
Solution Approach 2:
The processing unit continuously monitors the input handle's position within the workspace and uses this feedback to automatically adjust the scaling factor. This closed-loop feedback mechanism ensures that the scaling factor is optimally adapted to the current operational context, eliminating the need for manual clutching and improving overall ease of operation
3Device complexity
If a fixed scaling factor is used for all input handle movements, then system complexity is reduced, but adaptability deteriorates as the surgeon must frequently reposition the handle
Solution Approach 1:
The patent transitions from a fixed scaling factor to a dynamic scaling factor that automatically adapts to the handle's position within the workspace. This dynamic adjustment mechanism enhances adaptability by allowing the system to respond to different operational contexts without increasing overall system complexity, as the scaling factor changes are computed automatically by the processing unit based on simple positional feedback
Data Source
AI summary
A robotic surgical system includes a linkage, an input handle, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input handle is moveable in a plurality of directions. The processing unit is in communication with the input handle and is operatively associated with the linkage to move the surgical tool based on a scaled movement of the input handle. The scaling varies depending on whether the input handle is moved towards a center of a workspace or away from the center of the workspace. The workspace represents a movement range of the input handle.