Master Device Integrity Verification for Surgical Teleoperation
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Solution Overview
Problem
Master-slave robotic systems for medical or surgical teleoperation lack efficient and reliable methods to verify the structural and functional integrity of unconstrained master devices, which can lead to anomalies in slave device operation and potential patient safety risks due to external disturbances and detection inaccuracies.
Innovation Solution
A method that measures and detects position vectors and orientations of key points on the master device, defines constraints based on its structural features, and calculates mathematical relationships to determine the device's integrity, using sensors like magnetic and optical systems to verify if these constraints are respected within predetermined tolerance limits, allowing for real-time detection of anomalies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If magnetic or optical tracking systems are used to detect unconstrained master device position and orientation, then the master device gains freedom of movement and ease of operation, but detection accuracy deteriorates due to external disturbances and potential anomalies in reading master position and orientation
Solution Approach 1:
The system continuously monitors the master device position and orientation using magnetic or optical tracking systems, compares detected values against expected ranges, and provides feedback to the control system to alert operators of potential anomalies or disturbances in real-time
Solution Approach 2:
The patent introduces an intermediary verification system that cross-checks tracking data with other sensor inputs and system state information to filter out false anomalies caused by external disturbances while maintaining detection of genuine position and orientation errors
2Reliability
If automatic integrity verification procedures are implemented to ensure safety, then patient safety is improved, but system complexity increases due to additional sensors, processing requirements, and verification algorithms
Solution Approach 1:
The system performs preliminary integrity checks by defining constraints based on master device structural features before operation begins, and continuously verifies these constraints during operation to detect anomalies early without requiring complex real-time analysis
Solution Approach 2:
The control system automatically monitors its own operational integrity by using redundant sensors and algorithms to detect inconsistencies in master device position, orientation, and opening/closing measurements, enabling self-verification without external intervention
3Measurement precision
If redundant measurement systems are added to verify master device integrity, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes existing sensors serve multiple functions: primary sensors control slave device operation while simultaneously serving as verification sensors for integrity checking, eliminating the need for separate redundant sensor systems
Solution Approach 2:
The control system acts as an intermediary that cross-validates measurements from existing sensors by comparing them against defined constraints and mathematical relationships, providing verification capability without adding physical sensor redundancy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables effective and real-time verification of the master device's structural and functional integrity, promptly identifying and managing anomalies to ensure safe operation of the slave surgical instrument, thus enhancing patient safety by automatically interrupting teleoperation in case of non-compliance with constraints.
Implementation Method 1
unconstrained master devices, which are detected magnetically, optically or with other tracking methods
Implementation Method 2
unconstrained master devices, which are detected magnetically, optically or with other tracking methods
Data Source
AI summary
A method verifies functional/structural integrity of a hand-held unconstrained master device to control a robotic system for medical or surgical teleoperation. The master device includes a body having two rigid parts constrained to relatively rotate or translate on a common axis. Position vectors of two-plus points are measured and/or detected, each belonging to a respective one of the two rigid parts, and measuring and/or detecting evolution of the position vectors. An orientation of each of the points, and the evolution of the orientations are measured and/or detected. Constraints from constructional/structural features of the master device are defined, deriving from degrees of freedom. Mathematical relations associated with each of the defined constraints are calculated based on detected and/or measured position vectors, orientations and evolutions. A state of functional/structural integrity or non-integrity of the master device is determined, based on verification of the mathematical relations and degrees of freedom.