Dynamic Electrosurgical Tool Mapping for Robotic Energy Control
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Solution Overview
Problem
In robotic surgical systems, it is challenging for surgeons to accurately control electrosurgical tools due to difficulties in visually confirming the application of energy to tissue, which can lead to inadvertent tissue damage from mis-positioned foot pedals or confusion about which tool is being energized, especially with multiple tools in use.
Innovation Solution
An adaptable integrated user interface controller that maps user interface input devices to remote-controlled equipment, using mapping logic to selectively control robotic surgical tools and electrosurgical generators, providing haptic and visual feedback to ensure precise energy application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple electrosurgical tools are used in a robotic surgical system, then surgical functionality and versatility are improved, but the complexity of controlling and identifying which tool is energized increases
Solution Approach 1:
The foot pedal controller is designed to universally control multiple electrosurgical tools through a single interface. The system can identify which tool is currently active and route the energy delivery signal accordingly, allowing one control device to manage multiple functions without requiring separate controls for each tool.
Solution Approach 2:
The control system introduces an intermediary layer between the foot pedal and the electrosurgical tools. This intermediary component (the controller) manages the mapping between the single foot pedal input and multiple tool outputs, using identification signals to determine which tool should receive the energy signal based on the current surgical configuration.
2Measurement precision
If a surgeon looks away from the display device to position the foot pedal, then pedal positioning accuracy is improved, but surgical efficiency and focus on the surgical site deteriorate
Solution Approach 1:
The system provides visual feedback on the display device showing which electrosurgical tool is currently selected or active. This feedback allows the surgeon to maintain visual contact with the surgical site while accurately controlling the foot pedal, as the display indicates the current tool state without requiring the surgeon to look at the pedal or floor.
3Measurement precision
If the surgeon focuses narrowly on the wrong surgical tool, then control precision for that tool is improved, but the ability to monitor tissue damage from inadvertent energy application deteriorates
Solution Approach 1:
The display device provides real-time visual feedback showing which tool is currently energized and its status. This feedback mechanism ensures that the surgeon can monitor the active tool and its effect on tissue, preventing inadvertent energy application to the wrong area by making the active tool identification explicit and visible throughout the procedure.
Data Source
AI summary
A robotic system includes a plurality of input control devices configured to be operated by an operator, a display device, and a controller coupled to the plurality of input control devices and the display device. The controller is configured to: determine a dynamic mapping, the dynamic mapping identifying at least a first association, the first association being between a first input control device of the plurality of input control devices and a first function, the first function being of a plurality of functions of a first instrument, the robotic system configured to support the first instrument; cause the display device to display a first user interface element, the first user interface element indicative of the first association; receive input from the first input control device; and cause, based on the dynamic mapping, the first function to be performed by the first instrument.