Force-Based Gesture Control for Robotic Surgical Arms
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical robotic systems require complex user interfaces and multiple input devices for controlling robotic arms, which can complicate the setup and operation, especially during sterile procedures and instrument changes.
Innovation Solution
Implementing force-based gesture control using gesture force sensors (GFS) that allow users to command robotic manipulator functions by applying specific forces to the robotic arms, eliminating the need for navigating menus or pressing buttons, and enabling intuitive control of operational states and modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex user interfaces with multiple input devices are used to control robotic arms, then precise control capability is improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The patent extracts the essential control function from complex multi-device interfaces and consolidates it into a single robotic arm interface. By removing unnecessary input devices and menu navigation layers, the system maintains precise control capability while significantly reducing interface complexity and improving ease of operation during sterile procedures
Solution Approach 2:
The robotic arm is designed to serve multiple functions: it can be directly manipulated by the surgeon for precise positioning, it can autonomously navigate to predefined positions, and it can respond to various input modalities (hand guidance, foot pedals, buttons). This multi-functionality consolidates what would traditionally require multiple specialized devices into a single versatile platform
2Measurement precision
If multiple input devices and menu navigation are required for controlling robotic manipulators, then control precision is maintained, but ease of operation and productivity deteriorate
Solution Approach 1:
The robotic arm possesses autonomous capabilities that reduce dependency on complex manual control interfaces. It can automatically navigate to predefined positions, maintain sterile barriers independently, and execute pre-programmed sequences, allowing the surgeon to focus on critical decisions rather than routine positioning tasks while maintaining precise control when needed
3Reliability
If traditional control interfaces with menus and buttons are used, then system control capability is sufficient, but loss of time and productivity worsen during setup and instrument changes
Solution Approach 1:
The system employs pre-programmed sequences and predefined positions that are prepared in advance. During sterile setup and instrument changes, the robotic arm can automatically execute these pre-planned sequences, navigate to predetermined positions, and perform routine tasks without requiring the surgeon to manually navigate through menus or press multiple buttons, significantly reducing setup time while maintaining control reliability
Solution Approach 2:
The robotic arm maintains continuous operational capability throughout setup and surgery. Rather than requiring interruption for menu navigation or device switching, the system allows seamless transitions between different tasks and modes, keeping the useful action continuous and eliminating time losses associated with interface navigation
Data Source
AI summary
A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from ae force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates electromechanical movement of the manipulator arm to a draping configuration, instrument attachment configuration, storage configuration, or home configuration.