Robotic Surgery Master Controller Position Hold During Endoscope Motion
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Solution Overview
Problem
Conventional robotic surgical systems cause unnecessary operator motion due to changes in the relative position of master controllers when controlling endoscopes and surgical instruments, leading to wasted movements.
Innovation Solution
A robotic surgical system with separate operation units for each hand, controlled by a controller that maintains the distance between these units during endoscope movements, reducing the need for operators to return to their original positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscope is moved by simultaneously operating both master controllers while pressing the foot pedal, then the endoscope position is changed, but the relative position between the pair of master controllers changes causing wasted motion when restarting control
Solution Approach 1:
The control unit detects the position of the pair of master controllers and the position of the endoscope, and determines whether to restrict master controller movement based on this feedback information. This feedback mechanism prevents wasted motion by proactively limiting master controller movement when endoscope movement is detected, rather than requiring the operator to return to the original position after movement.
Solution Approach 2:
The system applies preliminary anti-action by restricting the movement of the master controllers in advance when endoscope movement is detected. This prevents the relative position change that would otherwise occur, eliminating the need for corrective motion after the fact.
2Loss of time
If the relative position between master controllers is maintained during endoscope movement, then wasted motion is reduced, but the system complexity increases
Solution Approach 1:
The control unit performs multiple functions: it controls the master controllers, detects their position, detects the endoscope position, determines whether to restrict movement, and actually restricts movement when needed. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in system complexity.
Solution Approach 2:
The control unit combines multiple control and detection functions into a single integrated system. By merging the master controller control, position detection, endoscope position detection, and movement restriction functions into one control unit, the patent avoids the complexity that would arise from having separate independent systems for each function.
3Productivity
If the control unit restricts master controller movement based on endoscope movement detection, then operational efficiency is improved, but the device complexity increases
Solution Approach 1:
The control unit automatically detects endoscope movement and independently determines whether to restrict master controller movement without requiring additional external control systems. This self-service capability improves operational efficiency by providing automatic correction while minimizing the increase in device complexity through self-contained functionality.
Data Source
AI summary
A robotic surgical system according to this disclosure includes a controller configured to control at least one of the first driver and the second driver to maintain a distance between the first operation unit and the second operation unit when a third operation to move the endoscope by the first operation unit and the second operation unit is received.