Integrated Surgical Table Motion With Floating Manipulator Arms

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Solution Overview

Problem

Conventional surgical systems require the disconnection of manipulator arms from patients during table repositioning, leading to inefficiencies and potential safety issues due to lost visualization and inaccurate positioning, especially when performing gravity-assisted retraction of organs.

Innovation Solution

A system that allows for the repositioning of a patient and articulated arms while maintaining control over the arms, using a control unit to manage joint movements and transform instrument commands across different coordinate frames, enabling continuous instrument control during surgical table movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If manipulator arms are disconnected from patients during table repositioning, then patient safety is improved, but surgical efficiency deteriorates due to lost visualization and inaccurate positioning

Engineering Contradiction:

Improvepatient safetyVSAvoidsurgical efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The system dynamically transitions manipulator arms between locked and floating modes based on surgical table movement state. During table repositioning, arms automatically switch to floating mode to follow patient motion, eliminating the need for disconnection while maintaining safety and continuous visualization.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control system continuously monitors surgical table position and manipulator arm state, using feedback signals to automatically adjust arm positioning. When table movement is detected, the system activates floating mode and transforms instrument commands to maintain accurate positioning throughout the repositioning process.

Inventive Principle:

Principle #23Feedback

2Productivity

If manipulator arms are kept connected during table repositioning, then surgical efficiency is improved through continuous visualization, but patient safety deteriorates due to potential instrument displacement

Engineering Contradiction:

Improvesurgical efficiencyVSAvoidpatient safety

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The floating mode enables manipulator arms to dynamically follow patient motion during table repositioning. The arms transition from a fixed locked state to a compliant floating state where they passively track patient movement, maintaining connection without causing displacement or safety issues.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system prepares for table repositioning by pre-configuring manipulator arms in floating mode before movement begins. This preliminary action ensures arms are ready to smoothly follow patient motion, preventing dangerous displacement while maintaining continuous instrument positioning.

Inventive Principle:

Principle #10Preliminary action

3Reliability

If instruments are removed from patient during table movement, then safety is improved, but time consumption increases due to repeated docking and undocking

Engineering Contradiction:

ImprovesafetyVSAvoidtime consumption

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system pre-configures manipulator arms in floating mode before table repositioning begins, eliminating the need to remove instruments. This preliminary preparation allows continuous operation during table movement, saving time while maintaining safety through controlled floating mode operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The floating mode enables continuous useful action by keeping instruments connected and functional throughout table repositioning. The manipulator arms continuously track patient motion, maintaining instrument positioning and visualization without interruption or repeated docking/undocking cycles.

Inventive Principle:

Principle #20Continuity of useful action

4Productivity

If surgical table is repositioned to optimize gravity-assisted retraction, then surgical effectiveness is improved, but patient comfort deteriorates due to excessive tilt angles

Engineering Contradiction:

Improvesurgical effectivenessVSAvoidpatient discomfort

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The control system provides real-time feedback on manipulator arm positioning relative to the patient. During table repositioning, this feedback allows the system to detect and correct excessive tilt angles that would cause patient discomfort, while still achieving effective gravity-assisted retraction through controlled arm positioning.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The floating mode allows manipulator arms to dynamically adjust to optimal positioning as the table is repositioned. This dynamic adaptation enables the system to achieve effective retraction angles while the control system monitors and limits excessive tilt, maintaining patient comfort throughout the process.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12426966B2System and method for integrated surgical table motion

Publication Date: 2025.09.30 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.