Force-Feedback Input Control for Collision-Safe Instrument Poses
Find Innovative SolutionsGenerate Solutions
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 nudging forces to prevent collisions and ensure smooth operation, transitioning between poses as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the camera instrument articulations are not visible from the distal tip view, then the camera can be positioned for optimal imaging, but the operator loses track of instrument state and range of motion
Solution Approach 1:
The system provides force feedback that communicates the current state of camera articulations to the operator through tactile sensations on the input device. This feedback loop maintains operator awareness of instrument configuration even when the articulations are not visible in the distal tip camera view, allowing optimal imaging positioning without loss of situational awareness.
2Reliability
If force feedback is applied to guide the operator to preferred poses, then collision prevention is improved, but the system complexity increases
Solution Approach 1:
The force feedback system is designed to provide intuitive tactile guidance that naturally directs the operator toward safe instrument configurations and away from collision zones. By making the safety guidance self-evident through tactile cues rather than requiring complex interfaces or additional displays, the system achieves improved collision prevention without proportionally increasing operational complexity.
Data Source
AI summary
A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.