Master Device Velocity Anomaly Detection in Surgical Teleoperation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing master-slave robotic systems for medical or surgical teleoperation with unconstrained master devices lack effective real-time anomaly detection methods, posing risks due to unintentional command transmission and potential patient safety issues.
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 identifying and responding to anomalies such as incorrect positioning, excessive velocity, or involuntary movements to suspend or terminate teleoperation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If velocity detection and anomaly detection systems are added to the master device, then patient safety and system reliability are improved, but device complexity increases
Solution Approach 1:
The patent implements preliminary action by pre-defining velocity thresholds and anomaly detection criteria before operation. The system continuously monitors velocity vectors and compares them against predetermined limits, enabling proactive safety interventions before harmful events occur. This approach improves reliability by establishing safety boundaries in advance while managing complexity through algorithmic rather than hardware-based solutions.
Solution Approach 2:
The system employs feedback mechanisms by continuously detecting velocity vectors of the master device, comparing them against threshold values, and providing real-time anomaly detection. When anomalies are detected, the system generates alerts or suspends teleoperation, creating a closed-loop control system that enhances patient safety through continuous monitoring and automatic response.
2Measurement precision
If real-time velocity monitoring is implemented, then anomaly detection capability is improved, but use of energy increases
Solution Approach 1:
The patent replaces complex mechanical monitoring systems with computational methods. Instead of using additional mechanical sensors or physical monitoring mechanisms, the system uses software-based velocity vector analysis and threshold comparison algorithms. This substitution improves measurement precision for anomaly detection while reducing energy consumption by relying on computational processing rather than additional physical monitoring hardware.
3Reliability
If automated anomaly detection and suspension systems are added, then operational safety is improved, but device complexity increases
Solution Approach 1:
The system implements self-service by enabling the master device to automatically detect anomalies in its own operation and autonomously suspend teleoperation when safety thresholds are exceeded. The device monitors its own velocity vectors, compares them against predefined criteria, and independently generates safety responses without requiring external intervention. This approach improves operational safety through automated protection while managing complexity by using software-based self-monitoring rather than additional hardware systems.
Data Source
AI summary
A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity 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 condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.