Master Grip Ratcheting for Unpowered Surgical Tool Alignment
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Solution Overview
Problem
In teleoperated minimally-invasive surgical systems, achieving intuitive and seamless alignment between the master grip and slave surgical instrument tips is hindered by the need for powered alignments, which delays system entry and requires costly motorized components.
Innovation Solution
A ratcheting system within the teleoperation servo control system continuously improves alignment between the master grip and slave surgical instrument tip in a common coordinate frame, allowing intuitive alignment without autonomous motion and enabling the use of unpowered master grips, thus eliminating the need for costly motorized components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If powered master tool manipulator with motors in gimbal assembly is used to achieve master alignment, then alignment accuracy is improved, but system cost and complexity increase
Solution Approach 1:
The patent replaces the mechanical motorized alignment system with a software-based ratcheting control system. The ratcheting system uses computational algorithms to continuously adjust and improve alignment between master grip and slave instrument tip, eliminating the need for physical motors in the master tool manipulator while maintaining alignment accuracy.
Solution Approach 2:
The ratcheting system enables the master grip to self-align with the slave instrument tip through continuous software-based adjustments. The system automatically detects misalignment and applies corrective transformations without requiring external motorized actuation, allowing the system to service its own alignment needs.
2Measurement precision
If powered master tool manipulator is used to perform master alignment, then alignment is achieved, but system entry time increases due to delays
Solution Approach 1:
The ratcheting system operates continuously rather than performing discrete alignment steps. It constantly monitors and adjusts the alignment between master grip and slave instrument tip throughout the entire system entry process, eliminating waiting periods and enabling seamless transition into following mode.
Solution Approach 2:
The ratcheting system performs alignment adjustments in advance and continuously during system entry, rather than requiring a separate post-positioning alignment step. This preliminary and continuous action eliminates delays that would otherwise occur after the surgeon positions the master grip.
3Ease of operation
If powered master grip with motors is used, then alignment control is improved, but component cost increases
Solution Approach 1:
The patent substitutes expensive motorized components with a software-based ratcheting control system. The alignment control function is implemented through computational algorithms that process sensor data and generate control signals, replacing the need for physical motors and reducing component costs significantly.
Solution Approach 2:
The system creates a virtual model of the alignment relationship between master grip and slave instrument tip through software. This digital copy allows for precise alignment control through computational transformations without requiring physical motorized mechanisms, achieving the same control function at lower cost.
Data Source
AI summary
A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.