Medical Robot Interference Avoidance for Single Port Surgery
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Solution Overview
Problem
In laparoscopic surgery, the interference between robot arms for moving instruments inserted through a single trocar can lead to difficulties in positioning and attitude control of the forceps and endoscope, causing visual point changes and potential loss of sight for the surgeon.
Innovation Solution
A medical robot system with an interference avoiding motion control unit that controls the camera arm relative to the forceps arm, maintaining a constant visual point for the endoscope, using a forceps motion control unit, endoscope motion control unit, and interference risk determination unit to calculate and execute trajectories that avoid interference while maintaining the endoscope's visual point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If multiple instruments are inserted through a single trocar to reduce patient invasiveness, then patient trauma is reduced, but interference between robot arms occurs making it difficult to position distal-end working units
Solution Approach 1:
The system dynamically adjusts the camera arm's position based on the forceps arm's position. The interference avoiding motion control unit continuously monitors and calculates the necessary adjustments to keep the arms from interfering with each other while maintaining the visual point, allowing both instruments to be positioned correctly through the single trocar.
Solution Approach 2:
The system uses feedback control where the interference avoiding motion control unit receives position information from the forceps arm and automatically adjusts the camera arm's position. This closed-loop control ensures that the camera arm moves to avoid interference while maintaining the desired visual point, resolving the positioning difficulty.
2Ease of operation
If the camera arm moves to avoid interference with the forceps arm, then interference is reduced, but the visual point of the endoscope changes making it difficult for the surgeon to maintain sight of the affected part
Solution Approach 1:
The system applies preliminary anti-action by pre-calculating and applying compensatory movements to the camera arm. When the forceps arm moves, the interference avoiding motion control unit calculates the opposite adjustment needed for the camera arm to maintain the visual point, effectively counteracting the potential displacement before it affects the surgical view.
Solution Approach 2:
The system changes multiple parameters simultaneously - it adjusts the camera arm's position parameters while maintaining the visual point parameters. The interference avoiding motion control unit coordinates these parameter changes to ensure that interference is avoided while the visual point remains stable, allowing both objectives to be achieved.
Data Source
AI summary
A medical robot system includes a forceps arm provided with a forceps manipulator and a camera arm provided with an endoscope. The forceps manipulator and the endoscope are inserted into a living body through a common insertion implement. The system further includes an operating unit that generates a control signal to control the forceps manipulator and the forceps arm, a forceps motion control unit that controls motions of the forceps manipulator and the forceps arm according to the control signal from the operating unit, an endoscope motion control unit that controls motions of the endoscope and the camera arm, and an interference avoiding unit that controls an interference avoiding motion of the camera arm to avoid interference between the camera arm and the forceps arm while a visual point of the endoscope is kept constant.