Medical Robotic Coupled Control for Multi-Device Coordination
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Solution Overview
Problem
Existing medical robotic systems face challenges in balancing the workspace and dexterity of robotic manipulators, making it difficult for users to effectively control instruments and imaging systems within a patient's body, especially when multiple devices are used, and there is a need for improved secondary or coupled control movements to optimize instrument positioning and visualization without interfering with surgical procedures.
Innovation Solution
A robotic system with a base controller that optimizes the workspace of instruments and compensates for base movements, allowing for coupled control of multiple devices and an imaging system through a master input device, enabling coordinated movement and retraction of instruments into a guide tube.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple devices are used in minimally invasive surgery, then the capability to perform complex surgical procedures is improved, but the complexity of controlling and coordinating these devices increases
Solution Approach 1:
The patent combines multiple device controls into a unified control architecture where a base manipulator coordinates the movement of multiple instruments and an imaging system. The coupled control mode merges the control of instrument positioning and imaging system positioning into a single coordinated operation, reducing the cognitive and operational complexity for the surgeon while maintaining the versatility to perform complex procedures with multiple devices
2Area of stationary object
If the base manipulator moves to optimize workspace, then the reachable workspace of instruments is improved, but the dexterity of instrument control may be compromised
Solution Approach 1:
The system dynamically adapts the control mode based on the operational context. When the base manipulator moves to optimize workspace, the coupled control mode automatically adjusts the coordination between base manipulator and instrument manipulators, maintaining optimal dexterity throughout the range of motion. The control system continuously recalibrates the relationship between base manipulator position and instrument position, ensuring precise control is maintained even as the workspace changes
3Productivity
If coupled control mode is implemented, then the coordination between imaging system and instruments is improved, but the control system complexity increases
Solution Approach 1:
The coupled control mode implements a universal control framework that can accommodate multiple instrument types and imaging systems through a single coordinated interface. Rather than creating separate control systems for each device combination, the patent establishes a multi-functional control architecture where the base manipulator serves as a universal coordinator for various instrument and imaging system configurations, reducing overall system complexity while improving coordination efficiency
Data Source
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AI summary
In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more nonassociated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.