Retracting Articulated Instruments Into Entry Guide
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Solution Overview
Problem
Medical robotic systems face challenges in efficiently and safely changing the orientation of an entry guide with articulated instruments, risking harm to patient anatomy during re-orientation and requiring cumbersome manual retraction of instruments.
Innovation Solution
A method and system that allows for controlled retraction of articulated instruments into an entry guide by generating specific commands to move the instruments in tandem back towards the guide, locking and unlocking joints to avoid anatomy, and pivoting the guide to new orientations without instrument collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If articulated instruments are manually retracted one at a time during entry guide re-orientation, then the operator has precise control over each instrument, but the procedure becomes time-consuming and cumbersome
Solution Approach 1:
Multiple articulated instruments are retracted simultaneously through a single coordinated action rather than individually. The system merges the retraction control of multiple instruments into one unified operation, where the controller manages the retraction of all instruments in parallel, reducing the number of operator steps while maintaining safety through automated coordination.
Solution Approach 2:
The controller automatically determines and executes the retraction distance for each instrument before the actual retraction begins. By pre-calculating the required retraction distances based on the entry guide's new orientation and the instruments' current positions, the system prepares the retraction parameters in advance, enabling simultaneous retraction without requiring the operator to manually adjust each instrument's retraction distance.
2Reliability
If the entry guide is re-oriented without retracting instruments first, then the procedure is faster, but the articulated instruments may strike and harm surrounding tissue
Solution Approach 1:
The system applies preliminary retraction of the articulated instruments before the entry guide is re-oriented to a new position. This preliminary action creates sufficient clearance between the instruments and surrounding tissue, preventing potential harm during the re-orientation process. The controller calculates the required retraction distance based on the planned new orientation and executes it automatically before the guide is moved.
Solution Approach 2:
The controller continuously monitors the positions of the articulated instruments and the entry guide during the re-orientation process. By providing real-time feedback on instrument positions and guide orientation, the controller dynamically adjusts the retraction and re-extension actions to ensure instruments do not contact surrounding tissue, maintaining safety while minimizing procedure time.
3Productivity
If multiple instruments are retracted and re-extended simultaneously, then the procedure is more efficient, but precise control over each instrument's position becomes more difficult
Solution Approach 1:
Each articulated instrument automatically determines its own retraction and re-extension actions based on its current position and the entry guide's new orientation. The controller enables each instrument to self-regulate its retraction distance and re-extension timing, eliminating the need for the operator to manually control each instrument individually. This self-service approach maintains precise control while enabling simultaneous operation of multiple instruments.
Data Source
AI summary
A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.