Hybrid Surgical Tool Path Control for Fatigue and User Guidance
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing a mode of operation that combines the benefits of manual and autonomous control for guiding surgical tools along a predefined path, leading to user fatigue and perceived loss of control.
Innovation Solution
A robotic surgical system with a manipulator, force/torque sensor, and control system that allows automated advancement of the surgical tool along a predetermined path while incorporating user inputs to adjust the feed rate and direction, ensuring seamless integration of manual and automated control modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual mode is used to control surgical tool movement, then user control is maintained, but user fatigue increases
Solution Approach 1:
The system dynamically transitions between manual and automated control modes based on the surgical task phase. During path following, automated control reduces user fatigue, while manual control is maintained for tasks requiring user judgment. This dynamic mode switching resolves the contradiction by allowing the system to adapt control characteristics to specific operational requirements.
Solution Approach 2:
The hybrid control system acts as an intermediary between fully manual and fully automated control. It combines automated path following capabilities with manual override options, providing a middle ground that reduces user fatigue while preserving user control when needed. The system mediates the contradiction by automating routine movements while keeping user authority for critical decisions.
2Loss of time
If automated mode is used to move surgical tool along predefined path, then user fatigue is reduced, but user control perception decreases
Solution Approach 1:
The system provides continuous feedback to the user during automated operation, including visual display of automated path following and haptic feedback when approaching anatomical structures. This feedback maintains user awareness and control perception even while the system operates in automated mode, resolving the contradiction between fatigue reduction and control perception.
Solution Approach 2:
The system dynamically adjusts the level of automation based on the surgical context. In safe zones, full automation reduces fatigue, while in critical zones requiring user judgment, the system transitions to manual mode or provides enhanced feedback. This dynamic adaptation maintains user control perception while maximizing fatigue reduction benefits.
3Ease of operation
If attractive forces are used to guide tool to path, then tool guidance is provided, but response becomes unpredictable
Solution Approach 1:
The system replaces unpredictable mechanical attractive forces with a computational path following algorithm. The virtual constraint system calculates precise tool positions along the predefined path and commands the manipulator to follow these calculated positions, providing consistent and predictable guidance without the variability inherent in force-based approaches.
4Ease of operation
If guided-manual mode constrains tool to path in 2DOF, then tool is guided along path, but user must continually apply forces increasing fatigue
Solution Approach 1:
The system dynamically switches between guided-manual mode for path following and fully automated mode for routine movements. During automated path following, the system eliminates the need for continuous user force application, reducing fatigue while maintaining guidance accuracy. Manual intervention is reserved for tasks requiring user judgment, optimizing the balance between guidance and fatigue reduction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system reduces user fatigue by allowing for efficient and precise control of the surgical tool, balancing manual input with automated guidance, enhancing user control and precision during surgical procedures.
Implementation Method 1
a force/torque sensor configured to measure forces/torques applied to the surgical tool by a user
Data Source
AI summary
Robotic surgical systems and methods for guiding a tool along a path using hybrid automated/manual control. A manipulator supports a surgical tool and a sensor measures forces/torques applied to the tool. A control system commands the manipulator to perform an automated advancement of the tool along a predetermined tool path in a first path direction and according to a predetermined feed rate. During the automated advancement, an input is received from the sensor in response to user applied forces/torques to the tool. The control system evaluates an effect of the sensor input on the automated advancement of the tool to determine an effective feed rate and an effective path direction for the tool with respect to the tool path. The control system determines a commanded action for the manipulator and the tool with respect to the tool path based on the effective feed rate and effective path direction.