Phantom Degrees of Freedom for Surgical Robot Control
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Solution Overview
Problem
Current robotic surgical systems face challenges in effectively controlling manipulator arms and tools with varying degrees of freedom, leading to overconstrained mathematical problems, sluggish surgeon feedback, and increased complexity due to the need for multiple controllers for different instruments.
Innovation Solution
A method and system that allow for the control of robotic manipulator arms and tools with fewer degrees of freedom by using a kinematic model that includes additional joints not physically present in the mechanical assembly, enabling the simulation of missing degrees of freedom and reducing controller complexity through a unified computation engine.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple controllers are used for different surgical instruments with varying degrees of freedom, then control precision is improved, but device complexity increases
Solution Approach 1:
The patent merges multiple separate controllers into a single unified controller that manages all surgical instruments regardless of their degrees of freedom. This single controller uses a standardized interface and computation engine to handle varying instrument configurations, thereby reducing overall system complexity while maintaining precise control through virtual degree of freedom mapping.
Solution Approach 2:
The unified controller implements a universal interface that can accommodate instruments with different degrees of freedom (5-DOF, 6-DOF, 7-DOF, etc.). By using virtual degree of freedom concepts and a standardized computation engine, the controller performs multiple functions - controlling diverse instrument types through a single platform, eliminating the need for instrument-specific controllers.
2Adaptability or versatility
If virtual degrees of freedom are added to the kinematic model, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent creates virtual copies of missing degrees of freedom through a computational model. Instead of adding physical components, the system generates virtual degree of freedom representations that mirror the behavior of actual degrees of freedom. These virtual DOFs are computed algorithmsically and mapped to available actuator DOFs, providing adaptability without physical complexity.
Solution Approach 2:
The patent replaces physical mechanical degree of freedom components with computational equivalents. The virtual degree of freedom model uses mathematical algorithms and software-based kinematic transformations to substitute for physical actuators, allowing the system to adapt to different instrument configurations through computation rather than mechanical reconfiguration.
3Manufacturing precision
If the manipulator structure is designed with fixed degrees of freedom, then manufacturing precision is improved, but ease of operation worsens due to overconstraint
Solution Approach 1:
The patent introduces dynamic reconfiguration of the manipulator system by allowing the kinematic model to adapt its degree of freedom configuration based on the specific surgical instrument being used. The system dynamically adjusts the virtual DOF model and computation engine parameters to match the actual instrument requirements, enabling smooth operation without mechanical reconfiguration while maintaining manufacturing precision.
Data Source
AI summary
Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.