Microsurgical Robot Tool Engagement for Orientation-Aligned Control
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Solution Overview
Problem
Existing robotic systems for microsurgical procedures face challenges in ensuring that the movement and orientation of surgical tools align properly with the control-component tools, leading to operator disorientation, extended surgical durations, and erroneous movements due to constrained workspaces and dissimilar orientations.
Innovation Solution
A robotic system with a control-component unit and computer processor that aligns and engages the control-component tool with the surgical tool, allowing for similar orientations and movements within defined workspaces, guided by imaging and location sensors, enabling seamless tool control without additional operator inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the control-component tool and surgical tool have dissimilar orientations, then the operator can control the surgical tool, but the operator becomes disoriented and surgical errors increase
Solution Approach 1:
The system creates a virtual copy of the surgical tool's orientation and position in the control-component tool's workspace. The computer processor generates a virtual representation that mirrors the surgical tool's frame of reference, allowing the operator to control the surgical tool without experiencing disorientation, as the control interface replicates the actual surgical geometry
Solution Approach 2:
The system transforms the spatial relationship between control tool and surgical tool by introducing a virtual dimension. Instead of requiring direct physical alignment, the system uses virtual tool representations in a digital workspace that can be oriented differently from the physical surgical tool, decoupling the orientation requirements while maintaining control fidelity
2Device complexity
If the control-component workspace and tool workspace are constrained, then the system remains compact, but the freedom of movement and surgical efficiency are reduced
Solution Approach 1:
The system resolves workspace constraints by mapping the physical three-dimensional surgical workspace to a virtual workspace that can be navigated differently. The virtual tool can access positions and orientations that would be physically constrained in the real workspace, effectively adding dimensional freedom without increasing physical device size
Solution Approach 2:
The computer processor acts as an intermediary that translates between the constrained control-component workspace and the surgical tool workspace. It performs coordinate transformations and virtual positioning that allow the operator to control the surgical tool beyond the physical limitations of the control device's workspace
3Ease of operation
If additional operator inputs are required for tool engagement, then precise control is maintained, but surgical duration is extended
Solution Approach 1:
The system performs automatic tool engagement and disengagement based on virtual position detection. The computer processor monitors the virtual tool's position and automatically executes engagement/disengagement commands when predefined conditions are met, eliminating the need for manual operator input while maintaining precise control through the virtual workspace framework
Data Source
AI summary
Apparatus and methods are described for performing a procedure on a portion of a body of a patient using a surgical tool. A computer processor drives a display to show an image that includes a representation of the surgical tool. In response to a control-component tool being at least partially aligned with the representation of the surgical tool within the image upon the display, the computer processor engages the control-component tool with the surgical tool, such that the tip of the surgical tool is moved within the patient's eye in a manner that corresponds with movement of the location and orientation of the tip of the control-component tool. Other applications are also described.