Retracting Articulated Instruments Into Entry Guide
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Solution Overview
Problem
Existing medical robotic systems face challenges in efficiently and safely changing the orientation of an entry guide with extended articulated instruments, risking harm to surrounding tissue and requiring cumbersome manual retraction procedures.
Innovation Solution
A medical robotic system and method that enables quick and efficient reorientation of an entry guide by retracting a plurality of articulated instruments in tandem back towards the entry guide, using a coupled control structure to automate the retraction and reconfiguration process, thereby minimizing the risk of tissue damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If articulated instruments are extended out of the entry guide to perform medical procedures, then the ability to perform procedures at the surgical site is improved, but the risk of striking and harming surrounding tissue increases when changing entry guide orientation
Solution Approach 1:
The system automatically retracts articulated instruments into the entry guide before changing its orientation, and then re-extends them after repositioning. This preliminary retraction action prevents the instruments from striking surrounding tissue during orientation changes, while still allowing procedure performance when the guide is properly positioned.
2Object-affected harmful factors
If manual retraction procedures are used to retract articulated instruments into the entry guide, then the risk of tissue damage is reduced, but the operator's workload and procedure time increase
Solution Approach 1:
The system uses coupled control architecture where the entry guide manipulator automatically coordinates with instrument manipulators to retract and re-extend instruments. The system performs the retraction service itself without requiring separate manual operator actions, thereby reducing both operator workload and overall procedure time while maintaining safety.
3Adaptability or versatility
If the orientation of the entry guide is changed to access different locations within the patient, then the versatility of the surgical approach is improved, but the complexity of coordinating instrument retraction and reconfiguration increases
Solution Approach 1:
The system merges the control functions of the entry guide manipulator with the instrument manipulators through coupled control architecture. This integration allows simultaneous coordination of guide repositioning and instrument retraction/extension, reducing operational complexity despite the need to access multiple locations within the patient.
Data Source
AI summary
Techniques for retracting an instrument into an entry guide include an entry guide manipulator configured to support an entry guide and an instrument manipulator configured to support an instrument. The robotic system is configured to receive a command indicating a commanded movement of the entry guide in a direction parallel to an insertion axis of the entry guide; in response to the commanded movement of the entry guide being greater than a threshold distance in the direction parallel to the insertion axis, cause a response comprising one or more actions selected from the group consisting of: movement, using the instrument manipulator, of one or more rotational joints of the instrument external to the entry guide toward a distal end of the entry guide; and actuation of the one or more rotational joints to straighten the instrument so that the instrument can be retracted into the entry guide.