Manipulator Controller for Surgical Safety
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Solution Overview
Problem
Existing manipulator systems face usability issues when their operating range is limited to the endoscope viewing field, making it difficult to perform tasks like suturing, and it is challenging to recognize contact with surrounding tissue outside the viewing field.
Innovation Solution
A controller method that calculates target positions for manipulator joints based on received signals, estimates the maximum distance between manipulators, and compares it with a predetermined threshold to prevent exceeding the allowable operating range, thereby preventing contact with surrounding tissue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator operating range is limited to within the endoscope viewing field, then safety is improved by preventing contact with surrounding tissue, but usability deteriorates making it difficult to perform tasks like suturing
Solution Approach 1:
A controller is introduced as an intermediary between the operator and the manipulator. The controller receives operation instructions, calculates target positions, estimates maximum distances between manipulators, and determines whether to permit movement based on predetermined thresholds. This intermediary system enables safe operation beyond the endoscope viewing field by providing computational oversight that prevents tissue contact while allowing necessary surgical maneuvers.
Solution Approach 2:
The patent replaces direct mechanical control with computational control. Instead of relying solely on physical constraints or operator judgment, the system uses a controller to calculate target positions, estimate maximum distances, and determine movement permission computationally. This substitution of mechanical control with intelligent algorithms enables both enhanced safety and improved usability.
2Ease of operation
If the manipulator is allowed to be operated outside the endoscope viewing field, then usability is improved for tasks requiring large movement, but safety deteriorates as contact with surrounding tissue becomes difficult to recognize
Solution Approach 1:
The controller implements a feedback mechanism by continuously monitoring the estimated maximum distance between manipulators and comparing it against predetermined thresholds. This feedback loop enables the system to dynamically determine whether to permit movement, providing real-time safety verification even when manipulators operate outside the endoscope viewing field. The feedback ensures safety while allowing expanded operational range.
3Reliability
If the maximum distance between manipulators is strictly controlled, then safety is improved by preventing tissue contact, but maneuverability deteriorates limiting surgical flexibility
Solution Approach 1:
The system dynamically adjusts the maximum distance constraints based on the specific surgical situation. The controller calculates target positions and estimates maximum distances in real-time, comparing them against predetermined thresholds that can be set according to the surgical task requirements. This dynamic approach allows the system to maintain safety while adapting to different surgical needs, preserving maneuverability for essential tasks.
Data Source
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Figure 3A~3B
AI summary
A manipulator-device controlling method of the present invention includes: a step (SA1) of receiving manipulation signals for manipulators; a step (SA2) of calculating a target position of a joint on the basis of the manipulation signals; steps (SA3, SA4, and SA5) of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step (SA6) of comparing the maximum distance with a predetermined threshold; a step (SA7) of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step (SA8) of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.