Flexible Surgical Tool Kinematic Control via Software RCM
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Solution Overview
Problem
Existing robot-assisted minimally invasive endoscopic surgery systems face challenges in achieving agile control of surgical tools with motion constraints without relying on dedicated remote motion center mechanisms, which limits flexibility and precision.
Innovation Solution
A flexible surgical tool system incorporating a multi-degree-of-freedom mechanical arm, a flexible surgical tool, a remote control device, and a controlling computer that uses robotic forward kinematics and inverse kinematics algorithms to achieve precise control and motion constraints without a dedicated remote motion center mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a dedicated remote motion center mechanism is used to satisfy motion constraints, then the motion constraints are satisfied, but the flexibility of use is poor
Solution Approach 1:
The patent replaces the dedicated mechanical remote motion center mechanism with a software-based control system. The controlling computer uses forward kinematics models and inverse kinematics algorithms to calculate and enforce motion constraints through software, eliminating the need for specialized mechanical RCM mechanisms and thereby improving flexibility while maintaining constraint satisfaction.
Solution Approach 2:
The system dynamically adjusts control parameters through computational algorithms. By changing from fixed mechanical constraints to dynamically calculated kinematic parameters, the system can adapt motion constraints to different surgical scenarios while maintaining the essential motion limitations, thus improving versatility without sacrificing reliability.
2Device complexity
If a rigid surgical instrument with limited bending degree of freedom is used, then the structure is simple, but the miniaturization and motion performance are limited
Solution Approach 1:
The surgical instrument is divided into multiple flexible sections that can bend independently. This segmentation allows the instrument to achieve complex motion patterns and miniaturization while maintaining controllable structure through the flexible sections' coordinated movement, resolving the contradiction between structural simplicity and motion performance.
Solution Approach 2:
The patent transitions from rigid, static instrument structures to dynamic, flexible structures. The flexible surgical tool can adapt its shape and motion characteristics in real-time during surgical procedures, enabling better miniaturization and enhanced motion performance while the control system maintains manageable complexity through dynamic adaptation rather than complex fixed mechanisms.
Data Source
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AI summary
The present invention relates to a flexible surgical tool system which comprises a flexible surgical tool system constituted by a multi-degree-of-freedom mechanical arm, the flexible surgical tool, the remote control device and a controlling computer and a method for controlling the same with motion constraints, the method comprises: obtaining a target posture of the surgical actuator according to a status signal of the remote control device; obtaining a current posture of the surgical actuator according to joint position values of the multi-degree of freedom mechanical arm and bending angle values of the sections of the flexible surgical tool; according to the target posture of the surgical actuator and the current posture of the surgical actuator, obtaining the desired velocity of the surgical actuator; obtaining a motion limitation condition applied by the sheath to the outer sleeve, and according to the motion limitation condition and the desired velocity of the surgical actuator, obtaining joint velocity of the multi-degree-of-freedom mechanical arm and bending velocity of the sections of the flexible surgical tool; obtaining a target joint position value of the multi-degree-of-freedom mechanical arm, a target bending angular value of the sections of the flexible surgical tool, and transmitting them to a corresponding controller to drive each section; ending the control loop and repeating the operations in the above steps.