Surgical Manipulator Arm Control Using Lattice Interference Maps
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Solution Overview
Problem
Existing surgical systems with multiple manipulator arms face challenges in preventing interference between arms without compromising medical treatment accuracy, especially when operating in confined spaces like between ribs, where optimizing opening positions is difficult.
Innovation Solution
The surgical system employs a lattice model-based interference prevention method, where position coordinates of lattice points are determined based on a sphere's geometry, allowing for real-time detection and prevention of arm interference through warning outputs and movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time interference calculation is performed during manipulator arm movement, then interference can be detected, but movement speed must be limited causing time delay between operator input and surgical instrument response
Solution Approach 1:
The system performs preliminary interference determination by pre-calculating and storing interference determination data before actual surgical operations. The controller determines whether manipulator arms interfere with each other in advance based on predetermined determination conditions, and stores this determination data for quick retrieval during operations, eliminating the need for real-time calculation during movement.
Solution Approach 2:
The system prepares interference prevention measures in advance by storing determination data that indicates whether interference occurs for various arm position combinations. This pre-prepared data acts as a cushion against potential interference issues during actual surgery, allowing the system to quickly respond without limiting movement speeds.
2Reliability
If opening positions are optimized to prevent manipulator arm interference, then interference is reduced, but opening positions may not be located at positions easy for operator to conduct medical treatment
Solution Approach 1:
The system dynamically determines interference based on the actual positions and movements of manipulator arms during surgery. Rather than fixing opening positions in advance to prevent interference, the system uses predetermined determination conditions to assess interference in real-time based on current arm configurations, allowing flexible adjustment of opening positions while maintaining interference prevention.
Solution Approach 2:
The system incorporates feedback mechanisms where the controller continuously monitors manipulator arm positions and uses stored determination data to assess whether interference occurs. This feedback loop allows the system to provide warnings or adjust positions dynamically, balancing interference prevention with operator accessibility without requiring pre-optimized fixed opening positions.
3Measurement precision
If multiple manipulator arms are arranged close to each other for fine medical treatment, then treatment precision is improved, but arm interference during operations increases
Solution Approach 1:
The system performs preliminary interference determination by pre-calculating interference scenarios for multiple manipulator arms arranged close together. The controller stores determination data indicating whether interference occurs for various arm position combinations, enabling quick assessment during surgery without requiring the arms to be spaced further apart.
Solution Approach 2:
The system introduces an intermediary assessment layer between the manipulator arms and their interactions. The controller uses predetermined determination conditions and stored determination data to mediate potential interference issues, allowing multiple arms to operate close together by providing early warning or control adjustments before interference actually occurs.
Data Source
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AI summary
Simulated are postures each formed by a manipulator arm and a surgical instrument when a tip end portion of the surgical instrument is located at a three-dimensional position of each lattice point in a lattice model set so as to correspond to the manipulator arm, the surgical instrument being held by the manipulator arm. Extracted is such a combination of the lattice points in the lattice models that the postures interfere with each other. Data of the combination which causes the interference is stored in a storage portion. It is determined whether or not an operating command transferred to a control portion corresponds to the combination which causes the interference. When it is determined that the operating command corresponds to the combination which causes the interference, the control portion executes interference preventing processing.