Layered User Input Control for Surgical Instrument Clutch Mode
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Solution Overview
Problem
Existing computer-assisted surgical systems face challenges in providing intuitive and efficient user input mechanisms that do not complicate the operation of master controls, leading to potential unintended actions and a cluttered interface.
Innovation Solution
A computer-assisted surgical system with a user input mechanism that facilitates a clutch mode of operation, allowing decoupling of master controls from surgical instruments, and uses a single, binary-option input mechanism to activate and deactivate this mode, along with other functions based on defined criteria, utilizing contextual information to determine the surgeon's intent.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple user input mechanisms are provided for selecting functions, then the system functionality is enhanced, but the interface becomes cluttered and operation becomes complicated
Solution Approach 1:
A single user input mechanism (e.g., one button) is designed to perform multiple functions by layering different operations. The system determines which function to execute based on contextual information such as current operating mode, sequence of inputs, or combination with master control actions. This allows one input mechanism to serve as a universal control for various functions including clutch mode activation, function selection, and mode switching without requiring multiple separate buttons or controls.
Solution Approach 2:
The functionality of the single user input mechanism is segmented into multiple layered functions. Instead of providing one function per button, the system segments the single button's capabilities across different operational contexts. The processor analyzes contextual parameters to determine which specific function should be executed when the button is actuated, effectively dividing the functionality into distinct operational layers that can be selectively activated.
2Device complexity
If a single binary-option input mechanism is used, then the interface remains simple and uncluttered, but the system's functional selection capability is limited
Solution Approach 1:
The system dynamically assigns different functions to the single binary input mechanism based on the current operating context. The processor monitors contextual information such as current mode, sequence of events, and system state to dynamically determine which function should be executed when the input mechanism is actuated. This dynamic function assignment allows the same simple input to control multiple different functions at different times, maintaining interface simplicity while expanding functional capability.
Solution Approach 2:
The system adds a contextual dimension to the binary input mechanism. Instead of the input mechanism having only two states (actuated/not actuated), the system introduces multiple contextual layers that modify the meaning of the input. By combining the binary input with contextual information (time, mode, sequence), the system creates effectively multiple functional dimensions from a single input mechanism, enabling rich function selection capability without additional physical inputs.
3Ease of operation
If the user control mechanism is always coupled to controlling the surgical instrument, then direct control is maintained, but unintended actions cannot be prevented
Solution Approach 1:
The coupling between the user control mechanism and surgical instrument is made dynamic rather than static. The system can transition between coupled and decoupled states based on user input and contextual conditions. When the clutch mode is activated through the user input mechanism, the coupling is temporarily broken, allowing the surgeon to reposition the master controls without moving the surgical instrument. This dynamic coupling adjustment enables prevention of unintended actions while maintaining direct control during normal operation.
Solution Approach 2:
The clutch mode acts as an intermediary state between the user control mechanism and surgical instrument. When activated, this intermediary state temporarily decouples the control relationship, allowing intermediate actions (repositioning master controls) without directly affecting the surgical instrument. This intermediary mechanism prevents unintended actions by providing a controlled way to break the coupling when necessary, while maintaining direct control when the clutch mode is not active.
Data Source
AI summary
A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.