Robotic Surgery Endoscope Control With Fixed Master Grip Spacing
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Solution Overview
Problem
Conventional robotic surgical systems cause unnecessary operator motion when the relative distance between master controllers changes during endoscope movement, leading to wasted movements as operators adjust the operation units back to their original positions.
Innovation Solution
A robotic surgical system with a controller that maintains the distance between operation units when moving the endoscope, using a first and second operation unit operated by the right and left hands, respectively, to prevent unnecessary adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscope is moved by operating both master controllers simultaneously while pressing the foot pedal, then the endoscope can be repositioned, but the relative distance between the master controllers changes causing wasted operator motion when returning to control the surgical instrument
Solution Approach 1:
The system continuously monitors the distance between the first and second operation units and provides feedback control. When the distance changes during endoscope movement, the controller automatically adjusts the operation units to maintain the original distance, preventing wasted operator motion and ensuring smooth transitions between controlling different surgical instruments.
Solution Approach 2:
The system dynamically adjusts the positional parameters of the operation units based on detected distance changes. By monitoring and correcting the distance parameter between operation units, the system maintains optimal positioning without requiring operator intervention to reset positions after endoscope movement.
2Adaptability or versatility
If the relative position between master controllers is allowed to change during endoscope movement, then the endoscope can be moved freely, but the operator must perform unnecessary adjustments to return the controllers to their original position
Solution Approach 1:
The distance detection and feedback control mechanism allows the system to maintain operational flexibility while automatically compensating for position changes. The operator can move the endoscope freely without worrying about subsequent adjustments, as the system autonomously maintains the optimal relative position between operation units.
Solution Approach 2:
The system performs self-adjustment by automatically detecting distance changes and correcting the operation unit positions without operator intervention. This self-service capability eliminates wasted motion and maintains productivity while preserving endoscope positioning flexibility.
Data Source
AI summary
A robotic surgical system according to this disclosure includes a controller configured to control at least one of the first driver and the second driver to maintain a distance between the first operation unit and the second operation unit when a third operation to move the endoscope by the first operation unit and the second operation unit is received.