Master Device Anomaly Detection in Surgical Teleoperation
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Solution Overview
Problem
Current master-slave robotic systems for medical or surgical teleoperation with unconstrained master devices lack reliable and efficient methods for real-time anomaly detection, posing safety risks due to potential unintended commands transmitted to surgical instruments.
Innovation Solution
A method involving sensors to detect the position and velocity vectors of the master device, comparing them against predetermined limits and thresholds, and automatically managing anomalies by suspending or restarting teleoperation to prevent unsafe conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an unconstrained master device is used to improve ease of operation, then the surgeon can operate more freely, but the risk of unintended commands and operating anomalies increases
Solution Approach 1:
The system continuously monitors the master device's position and velocity vectors, comparing them against predetermined thresholds to detect anomalies. This feedback mechanism allows the system to identify unintended commands in real-time and trigger appropriate safety responses, resolving the contradiction between operational freedom and reliability
Solution Approach 2:
The control system acts as an intermediary between the master device and slave device, inserting an anomaly detection layer that processes commands before transmission. This intermediary monitors for abnormal conditions and can block unintended commands while allowing legitimate surgical operations to proceed
2Reliability
If real-time anomaly detection is implemented to improve safety, then patient risk is reduced, but the system complexity increases
Solution Approach 1:
The system replaces complex mechanical constraint mechanisms with a software-based anomaly detection approach. Instead of physically constraining the master device, the system uses sensor data processing and algorithmic threshold comparison to achieve safety, reducing mechanical complexity while maintaining reliability
Solution Approach 2:
The control system performs self-monitoring and self-validation by automatically comparing detected position and velocity vectors against predetermined thresholds. This self-service anomaly detection eliminates the need for external monitoring systems, reducing overall system complexity while ensuring safety
Data Source
AI summary
A method is for identifying at least one anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting, by sensor(s), the position vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly is identified based on the detected position vector, or based on a component of the detected position vector. The detectable anomalies include at least an incorrect positioning of the master device with respect to a predetermined workspace of the master device. Each of such detectable anomalies is associated with a system state change to be performed if the anomaly is detected, in which the state change includes exiting from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.