Force-Feedback Input Control for Preferred Robotic Instrument Poses

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Solution Overview

Problem

Medical robotic systems face challenges in maintaining the safety and efficiency of minimally invasive procedures due to the close proximity of articulated camera and tool instruments, leading to potential collisions and loss of articulation visibility, which can jeopardize patient safety and procedure success.

Innovation Solution

A medical robotic system that applies force feedback to an input device to urge the operator to command articulated instruments to a preferred pose, using a controller that modifies the commanded pose with virtual barriers and pose nudging blocks to prevent collisions and maintain optimal instrument alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If articulated instruments are inserted through a single entry guide, then the number of entry apertures is reduced, but the risk of collision between instruments increases

Engineering Contradiction:

Improvesingle entry aperture capabilityVSAvoidcollision risk

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system applies force feedback to the input device before a collision can occur, creating a preliminary counteracting force that prevents the harmful action (collision) from happening in the first place

Inventive Principle:

Principle #9Preliminary anti-action

Solution Approach 2:

The system continuously monitors the pose of articulated instruments and provides real-time force feedback to the operator when the instruments approach unsafe configurations, enabling closed-loop control to prevent collisions

Inventive Principle:

Principle #23Feedback

2Illumination intensity

If the camera instrument is moved to gain better visibility, then the view of the work site is improved, but the visibility of articulations is lost

Engineering Contradiction:

Improvecamera view qualityVSAvoidarticulation visibility

Core Design Contradiction:

Illumination intensityVSLoss of information

Solution Approach 1:

The system provides continuous force feedback to the operator indicating the current pose of articulations, compensating for the loss of visual information and maintaining awareness of instrument configuration

Inventive Principle:

Principle #23Feedback

3Reliability

If force feedback is applied to guide the operator, then collision prevention is improved, but the system complexity increases

Engineering Contradiction:

Improvecollision preventionVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The force feedback system acts as an intermediary between the operator and the articulated instruments, providing intuitive tactile guidance without requiring complex visual interfaces or additional control mechanisms

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentEP3636197B1Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose

Publication Date: 2024.01.03 INTUITIVE SURGICAL OPERATIONS INC

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AI summary

A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.