Surgeon Manipulator Orientation Offset for Ergonomic Instrument Control

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Solution Overview

Problem

Conventional computer-assisted manipulator systems face challenges in ergonomic use due to the human wrist becoming a limiting factor in controlling instrument positioning, especially when performing complex procedures with difficult-to-reach ports, leading to manual manipulation at awkward angles.

Innovation Solution

A computer-assisted system that includes a repositionable structure supporting an instrument shaft, an image sensor, a user input system, and a control system to display actual and virtual representations of the instrument, allowing for ergonomic control adjustments based on user input signals.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the manipulator system uses conventional direct control orientation, then the instrument positioning accuracy is maintained, but the user experiences ergonomic discomfort and wrist strain when controlling instruments at difficult-to-reach ports

Engineering Contradiction:

Improveuser ergonomic comfortVSAvoidcontrol system complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent creates a virtual representation (copy) of the instrument shaft that differs from the actual physical shaft. This virtual copy is displayed to the user and can be oriented differently from the real instrument, allowing the user to interact with an ergonomically optimized representation while the actual instrument maintains its required positioning accuracy through the manipulator system

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The control system acts as an intermediary between the user input device and the actual instrument. It receives control signals based on the virtual representation and transforms them into appropriate motion commands for the physical manipulator, mediating between the ergonomic virtual interface and the precise physical control requirements

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If the system displays only the actual representation of the instrument shaft, then the user has accurate spatial awareness, but the user must manipulate the input device at awkward angles for complex procedures

Engineering Contradiction:

Improvecontrol manipulation easeVSAvoidspatial orientation information

Core Design Contradiction:

Ease of operationVSLoss of information

Solution Approach 1:

The system generates a virtual copy of the instrument shaft that preserves the essential spatial and operational information needed for control, while allowing the representation to be oriented in an ergonomically favorable direction. This virtual copy maintains the necessary spatial relationships for accurate control without requiring the user to physically orient themselves awkwardly

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The system changes the orientation parameter of the instrument shaft representation from its actual physical orientation to a virtual orientation that is more favorable for user control. This parameter transformation allows the same physical instrument to be controlled from a comfortable position while maintaining accurate spatial awareness through the transformed representation

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If the manipulator system allows flexible instrument positioning, then the system can reach difficult ports, but the user wrist becomes a limiting factor due to awkward manipulation angles

Engineering Contradiction:

Improveinstrument positioning flexibilityVSAvoiduser wrist comfort

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

By providing a virtual representation of the instrument shaft that can be oriented independently from the actual instrument, the system allows the physical manipulator to reach difficult ports while the user interacts with an ergonomically oriented virtual copy, eliminating the wrist strain caused by awkward physical manipulation angles

Inventive Principle:

Principle #26Copying

Solution Approach 2:

Instead of requiring the user to adapt their wrist position to match the instrument orientation, the system inverts the approach by adapting the instrument's virtual representation to match ergonomic user positions. The control system transforms user inputs from comfortable positions into the appropriate commands for reaching difficult ports

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentUS20260020926A1Instrument follow orientation offset for ergonomic surgeon manipulator control orientation

Publication Date: 2026.01.22 INTUITIVE SURGICAL OPERATIONS INC

AI summary

Systems and methods are described for assisting a user in controlling an instrument. The method may include: while operating according to a first operating condition: configuring a display device to display an actual representation of the instrument shaft based on image data; and controlling motion of the instrument working portion and shaft; and while operating according to a second operating condition: modifying image data to include a virtual representation of the instrument shaft and obscure the actual representation; configuring the display device to display the modified image data; and controlling motion of the instrument working portion and shaft by: receiving control signals from the user input system, processing control signals to determine a desired motion relative to the actual position to generate one or more modified control signals, and causing the repositionable structure to move relative to the actual position of the instrument shaft based on the modified control signals.