Configurable Manipulator Control Mapping for Surgical Tool Switching
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Solution Overview
Problem
Current robotic surgical systems face complexity and error-prone operations due to the need for different controllers for various manipulator assemblies, limiting the ability to conveniently switch between tools and increasing system complexity and costs.
Innovation Solution
A telesurgical system with a support structure that can receive multiple manipulators and a controller with maps for both joint space and work space layers, allowing for the use of a single controller to manage various surgical tools through mechanical and electrical interfaces, enabling seamless switching between different tools without increasing complexity or costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If different controllers are used for various manipulator assemblies, then each manipulator can be precisely controlled, but system complexity increases and ease of operation deteriorates
Solution Approach 1:
The patent implements a universal controller that can manage multiple types of manipulator assemblies through standardized mechanical and electrical interfaces. The controller uses configurable parameters and calibration procedures to adapt to different manipulator configurations, eliminating the need for multiple specialized controllers while maintaining precise control over each manipulator assembly.
2Reliability
If multiple specialized controllers are implemented, then each manipulator assembly is precisely controlled, but ease of operation and switching between tools deteriorates
Solution Approach 1:
The universal controller provides a unified interface for operating all manipulator assemblies and tools. Through standardized mechanical interfaces allowing quick tool changes and electrical interfaces for consistent control signals, the system enables seamless switching between different tools and manipulators without requiring operators to learn multiple control systems.
Solution Approach 2:
The controller is designed with dynamic reconfiguration capabilities, allowing it to adapt its control parameters and mappings based on which manipulator assembly or tool is currently connected. This dynamic adaptation maintains precise control while enabling flexible tool switching during surgical procedures.
3Reliability
If different controllers are used for different manipulators, then control precision is maintained, but system costs and complexity increase
Solution Approach 1:
The system employs a single universal controller that replaces multiple specialized controllers, thereby reducing system complexity and cost. The controller achieves precise control over various manipulator assemblies through standardized interfaces and configurable software parameters, eliminating redundancy while maintaining control precision across all manipulators.
Solution Approach 2:
The universal controller uses software-based control models and calibration data to replicate the control characteristics needed for different manipulator types. Instead of requiring hardware-specific controllers, the system creates virtual models of each manipulator assembly in software, allowing precise control through a single unified hardware controller.
Data Source
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Figure 1B
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AI summary
Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first, manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at, a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.