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 surgical procedures due to the close proximity of articulated camera and tool instruments, leading to potential collisions and loss of control over instrument articulations, which can jeopardize patient safety and procedure success.

Innovation Solution

A medical robotic system and method that applies force feedback on an input device to urge the operator to command articulated instruments to preferred poses, using virtual barriers and pose nudging blocks to prevent collisions and ensure smooth transitions, thereby maintaining instrument alignment and visibility.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Volume of moving object

If articulated camera and tool instruments are inserted through a single entry aperture in close proximity, then the minimally invasive nature of the procedure is maintained, but the risk of collision between instruments increases and control over instrument articulations is lost

Engineering Contradiction:

Improveentry aperture sizeVSAvoidinstrument collision prevention

Core Design Contradiction:

Volume of moving objectVSReliability

Solution Approach 1:

The system applies force feedback to the master manipulator to provide tactile cues to the operator about the articulation state of instruments. When an instrument approaches a collision risk or loses visibility, the force feedback creates resistance or directional guidance to prevent unsafe movements, thus maintaining reliability while preserving single-aperture access

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The force feedback mechanism acts as an intermediary between the operator and the instruments. It translates instrument articulation states and collision risks into tactile sensations on the master manipulator, enabling the operator to sense and control instrument positions without direct visual feedback, thereby preventing collisions while maintaining minimally invasive access

Inventive Principle:

Principle #24Intermediary (Mediator)

2Volume of moving object

If the camera instrument articulations are not visible from the distal tip camera view, then the surgeon can lose track of the current state of articulations and available range of motion, but maintaining close proximity of instruments is necessary for single-aperture procedures

Engineering Contradiction:

Improveinstrument bundle sizeVSAvoidarticulation state visibility

Core Design Contradiction:

Volume of moving objectVSLoss of information

Solution Approach 1:

The system provides force feedback that encodes articulation state information tactilely. When camera articulations move into positions that would make them invisible or risky, the force feedback creates corresponding tactile cues on the master manipulator, allowing the operator to maintain awareness of articulation states without visual confirmation

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system replaces visual feedback mechanisms with tactile feedback through force applied to the master manipulator. This mechanical substitution allows the operator to perceive instrument states through touch rather than sight, compensating for the inability to visually track articulations in the distal camera view

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Reliability

If force feedback is applied to urge the operator to command preferred poses, then collision prevention and instrument alignment are improved, but the complexity of the control system increases

Engineering Contradiction:

Improvecollision preventionVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The force feedback system automatically calculates preferred poses and generates appropriate tactile cues without requiring additional manual intervention. The system monitors instrument positions, determines when preferred poses should be commanded, and applies corresponding forces to guide the operator, making the complex control logic self-managing rather than requiring external oversight

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS10959798B2Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose

Publication Date: 2021.03.30 INTUITIVE SURGICAL OPERATIONS INC

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.