Image Guided Motion Scaling for Surgical Robot Control
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Solution Overview
Problem
Current surgical robotic systems rely on fixed scaling factors for motion control, which are subjective and do not account for the surgical environment, leading to potential injuries and inefficiencies due to constant scaling and frequent changes required for different anatomical regions.
Innovation Solution
Implementing an image-guided motion scaling system that defines motion scales based on pre-operative and intra-operative imaging of anatomical regions, allowing for dynamic attenuation or amplification of user-defined motions of surgical robotic arms within the surgical coordinate space, dependent on the surgical environment and proximity to critical structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed scaling factor is used for motion control, then the system is simple to operate, but it cannot adapt to different surgical environments and may lead to patient injury
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed scaling factor to a dynamic scaling factor that automatically adjusts based on the robotic arm's position relative to critical anatomical structures. The system continuously monitors the operational environment and modifies the motion scaling in real-time, allowing the same system to provide both simplicity and adaptability across different surgical scenarios
Solution Approach 2:
The patent implements feedback mechanisms where the system monitors the position of the robotic arm end-effector relative to critical structures identified in pre-operative or intra-operative imaging. This feedback loop enables automatic adjustment of the motion scaling factor to prevent collisions with forbidden zones while maintaining ease of operation for the surgeon
2Ease of operation
If a fixed scaling factor is used, then the system is simple to control, but frequent changes are required for different anatomical regions which distracts from the surgical task
Solution Approach 1:
The patent applies self-service by enabling the system to automatically adjust motion scaling factors without requiring manual intervention from the surgeon. The system independently analyzes the surgical environment using imaging data and robotic arm position, then autonomously modifies scaling parameters to match different anatomical regions, eliminating distractions and maintaining continuous surgical focus
Solution Approach 2:
The patent implements preliminary action by pre-loading anatomical models and critical structure data from pre-operative imaging into the system before the surgical procedure begins. This preparation allows the system to immediately provide context-aware motion scaling when the robotic arm enters different anatomical regions, avoiding delays and distractions during the actual surgery
3Manufacturing precision
If a high scaling factor is used to amplify motion, then precision is improved for delicate procedures, but the reaction time to stop or slow down the arm near forbidden zones is reduced
Solution Approach 1:
The patent applies local quality by implementing spatially varying motion scaling factors across different regions of the surgical workspace. High scaling factors are applied in regions requiring precision for delicate procedures, while lower scaling factors are applied near forbidden zones where rapid response is needed. This local differentiation allows the system to simultaneously optimize both precision and safety response capabilities
Solution Approach 2:
The patent uses dynamics to enable real-time adjustment of motion scaling factors based on the robotic arm's instantaneous position and the proximity to critical structures. The system dynamically transitions between high-scaling precision modes and low-scaling safety modes as the arm moves through different anatomical regions, ensuring both precision and responsive safety control are never compromised
Data Source
AI summary
A image guided motion scaled surgical robotic system (160) employs a surgical robotic arm (168) and an image guided motion scaled surgical controller (162). In operation, responsive to an input signal indicative of a user defined motion of the surgical robotic arm (168) within an anatomical region, the image guided motion scaled surgical controller (162) controls an actuated motion of the surgical robotic arm (168) within the anatomical region based on a map (164) of a motion scale delineated within an imaging of the anatomical region.