Emulator Movement Tracking for Intuitive Robotic Surgery Control
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Solution Overview
Problem
Existing robotic surgical platforms have user interfaces that are not intuitive, requiring separate training and lacking in haptic feedback similarity to traditional surgical tools, making the transition from manual to robotic surgeries challenging for surgeons.
Innovation Solution
A system that includes an emulator representing a medical device, detectors to track the emulator's motion, and a processor to adjust and translate the motion into corresponding movements of the medical device, providing a more natural and intuitive control experience by mimicking the weight and motion of conventional surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a joystick system is used to control robotic medical devices, then the system provides mechanical control capability, but the haptic feedback does not resemble traditional surgical tools and requires separate training
Solution Approach 1:
The patent creates a virtual copy of the surgical site and medical devices within an emulator environment that replicates the visual and spatial characteristics of actual surgery. This virtual replica allows surgeons to interact with controls that visually match the surgical field, making the interface intuitive without requiring extensive retraining on new control mechanisms
Solution Approach 2:
The patent replaces traditional mechanical joystick controls with a motion tracking system that uses optical detectors and virtual reality interfaces. This substitution eliminates the disconnect between control input and visual feedback, allowing surgeons to manipulate virtual representations of surgical tools that directly correspond to the emulated surgical field
2Measurement precision
If motion tracking detectors are added to track the emulator, then the system can detect emulator position and movement, but the device complexity increases
Solution Approach 1:
The motion tracking detectors serve multiple functions simultaneously: they track the position of the emulator, detect movement for generating control signals, and provide spatial orientation data. This multi-functionality reduces the need for separate specialized sensors for each measurement task, thereby limiting the increase in device complexity
Solution Approach 2:
The patent introduces a processor as an intermediary that receives raw detection data from multiple detectors, processes this information, and generates coordinated control signals. This central processing approach simplifies the overall system architecture by consolidating the complexity of coordinating multiple detectors into a single processing unit
3Manufacturing precision
If the system adjusts movement amounts to reduce alignment offset, then the medical device positioning accuracy improves, but the control system complexity increases
Solution Approach 1:
The patent implements a feedback loop where the processor continuously monitors the alignment offset between the emulator position and medical device position, then automatically adjusts movement commands to reduce this offset. This closed-loop feedback system achieves high positioning accuracy through software-based control rather than complex mechanical adjustment mechanisms
Solution Approach 2:
The patent dynamically changes movement parameters (such as movement amount and direction) based on real-time alignment calculations. By adjusting these parameters through software processing rather than physical mechanisms, the system achieves precise positioning while keeping the hardware complexity manageable
Data Source
AI summary
The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system can include an emulator representing a medical device. The system can include at least one detector configured to track the emulator. The system can also include an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.