Medical Workstation Robot Arm Autonomous Surgical Control
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Solution Overview
Problem
Current medical workstations with robot arms lack advanced automation and intuitive control methods for precise and efficient telemanipulation during surgical procedures, leading to repetitive tasks for surgeons and potential stress on patients due to inadequate automation.
Innovation Solution
A medical workstation with multiple robot arms, a control device, and a display device that allows for automatic movement planning and execution based on marked areas in 3D images, enabling telemanipulation and autonomous surgical tasks, such as suturing, using input devices like 3D mice or haptic devices with feedback, and integrating preoperative data and anatomical atlases for optimized path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot arms are used for telemanipulated surgery, then surgical precision and control are improved, but surgeon workload and treatment duration increase due to repetitive manual operations
Solution Approach 1:
The system enables autonomous operation where the robot arm automatically performs surgical tasks based on pre-planned trajectories and marked areas. The control device calculates movements autonomously without requiring continuous manual input from the surgeon, allowing the system to serve itself in executing routine surgical operations while the surgeon oversees the procedure.
Solution Approach 2:
The surgeon marks the treatment area and defines the trajectory in advance using the input device. The control device stores this information and uses it to automatically guide the robot arm during surgery. This preliminary planning phase eliminates the need for real-time manual control during execution, reducing treatment duration while maintaining precision.
2Ease of operation
If manual telemanipulation is used to control robot arms, then surgeon control and flexibility are maintained, but surgeon workload and potential patient stress increase
Solution Approach 1:
The system dynamically switches between manual telemanipulation mode and autonomous operation mode. The control device can operate in either mode depending on the surgical phase and requirements. This dynamic adaptability allows the surgeon to maintain control when needed while benefiting from automation during routine tasks, thereby reducing patient stress without sacrificing surgical control.
3Productivity
If automated movement calculation is implemented based on marked areas, then treatment efficiency is improved, but system complexity increases
Solution Approach 1:
The control device serves as an intermediary between the simple input device (where the surgeon marks areas) and the complex robot arm execution system. It automatically calculates the movement trajectories and translates high-level surgical intentions into precise robotic movements. This intermediary layer handles the computational complexity internally while presenting a simple interface to the surgeon, thereby improving efficiency without increasing the apparent system complexity to the user.
4Adaptability or versatility
If multiple operating modes are integrated into a single workstation, then versatility and automation are improved, but ease of operation may deteriorate due to mode switching
Solution Approach 1:
The control device is designed with multi-functionality to handle both manual telemanipulation and autonomous operation modes within a single unified system. The same control device processes inputs for area marking, trajectory planning, and execution across different modes. This universal design allows the system to adapt to different surgical requirements while maintaining a consistent user interface, thereby achieving versatility without significantly compromising ease of operation.
Data Source
Figure 1
Figure 2~3
AI summary
The workstation has robot arms (2, 3) comprising drives for moving joints, and a control device (4) producing signals to control the drives. A display device (6) is coupled with the control device to display images from a treatment area of living being, where the images are recorded during the treatment of the living being. Input devices (7, 8) i.e. computer mouse, detect a region in the images, and the control device detects movement of the arms based on the region. The control device controls the drives, such that a medical instrument treats region of the living being.