Laparoscopic Tool Posture Control Using Secondary Tool Sensing
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Solution Overview
Problem
Current laparoscopic surgery assistance technologies face challenges due to measurement errors, particularly drift errors, which affect the control of robot arms, and do not account for scenarios where the secondary surgical tool is intentionally manipulated by the operator, limiting the effectiveness of robot arm assistance.
Innovation Solution
A surgery assisting apparatus that uses a second surgical tool to control the posture of a first surgical tool, incorporating sensors to measure angle and depth of insertion, and a computing unit to determine the target position based on these measurements, allowing intuitive control while minimizing measurement errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a 6-degree-of-freedom posture measurement system is used to control the robot arm, then the control precision is improved, but the system cost increases significantly
Solution Approach 1:
The patent extracts only the necessary measurement components (inertia sensor and insertion amount sensor) from the complete 6-degree-of-freedom measurement system. By removing unnecessary sensors and focusing only on the critical parameters (posture and insertion depth), the system achieves adequate measurement precision while significantly reducing complexity and cost.
Solution Approach 2:
The patent employs inexpensive inertia sensors and insertion amount sensors instead of expensive 6-degree-of-freedom measurement systems. These simpler, cheaper sensors are used to achieve the necessary measurement accuracy for controlling the robot arm, sacrificing some measurement comprehensiveness for cost effectiveness.
2Difficulty of detecting and measuring
If inertia sensors are used to measure surgical tool movement, then the measurement capability is improved, but drift errors accumulate causing measurement deviations
Solution Approach 1:
The patent implements a feedback mechanism where the measured posture and insertion depth are continuously monitored and fed back to the control system. This allows for real-time correction of drift errors by comparing expected positions with actual measurements and adjusting the robot arm control accordingly to compensate for accumulated errors.
Solution Approach 2:
The patent performs preliminary calibration and error compensation before and during the surgical procedure. By establishing baseline measurements and pre-calculating compensation values for expected drift, the system proactively counteracts measurement deviations before they significantly affect surgical precision.
3Extent of automation
If the robot arm follows the distal end position of the main surgical tool, then the automation level is improved, but the ability to intuitively manipulate secondary surgical tools is reduced
Solution Approach 1:
The patent implements dynamic control modes that allow the system to switch between different operational behaviors. The robot arm can dynamically adapt its control characteristics based on the surgical situation, providing high automation when following the main tool while maintaining the capability for intuitive manual manipulation of secondary tools when needed.
Solution Approach 2:
The patent designs the robot arm control system to perform multiple functions: it can automatically follow the main surgical tool for precise positioning, or be manually controlled for intuitive manipulation of secondary tools like laparoscopes. This multi-functional capability allows the same system to serve different operational requirements without sacrificing either automation or ease of use.
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
Enables intuitive control of surgical tools by suppressing measurement errors and allowing operators to effectively manipulate secondary surgical tools, enhancing the assistance provided by robot arms during laparoscopic surgeries.
Implementation Method 1
one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity
Data Source
AI summary
A surgery assisting apparatus for controlling a posture of a first surgical tool to be inserted into a body cavity and mechanically driven, by using a second surgical tool to be inserted into the body cavity, comprises: a mode switch configured to switch a first mode and a second mode, the second surgical tool being used to control the first surgical tool in the second mode; one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity; and at least one memory and at least one processor which function as a computing unit configured to determine a target position of a control point that is a point for specifying the posture of the first surgical tool in order to control the posture of the first surgical tool.