Surgical Robot Controller Switchover for Patient Repositioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotically-assisted surgical systems require undocking and repositioning of robotic arms when repositioning the patient during a surgical procedure, leading to inefficiencies and potential hazards due to the need for manual intervention.
Innovation Solution
A surgical robotic system with a primary and secondary controller architecture that transitions control from a primary controller to a secondary controller in response to communication failures, utilizing heartbeat messages and hibernated processes to ensure continuous operation and prevent patient entrapment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual undocking and repositioning of robotic arms is performed during patient repositioning, then patient repositioning can be achieved, but surgical efficiency decreases and potential hazards increase due to manual intervention requirements
Solution Approach 1:
The system performs preliminary actions by pre-positioning the robotic arms and preparing the control transition mechanisms before patient repositioning is needed. The secondary controller is pre-configured with hibernated processes that can be rapidly activated, eliminating the need for manual undocking and repositioning during the actual patient repositioning event.
Solution Approach 2:
The robotic system performs self-service during patient repositioning by automatically transitioning control from the primary to secondary controller. The system monitors its own operational state through heartbeat messages and autonomously initiates controller transition when communication failures are detected, eliminating the need for manual intervention and maintaining surgical efficiency.
2Ease of operation
If manual undocking and repositioning of robotic arms is performed during patient repositioning, then patient repositioning can be achieved, but system safety decreases due to potential hazards from manual intervention
Solution Approach 1:
The system implements continuous feedback monitoring through heartbeat messages exchanged between controllers. The secondary controller monitors for missed heartbeat messages from the primary controller, and when communication failures are detected, the system automatically transitions control to the secondary controller, preventing patient entrapment and maintaining system safety without manual intervention.
Solution Approach 2:
The system prepares compensatory measures in advance by maintaining a secondary controller with hibernated processes ready to take over. This prior cushioning ensures that if the primary controller fails during patient repositioning, the secondary controller can immediately assume control, preventing hazardous situations before they occur.
3Reliability
If continuous control monitoring and controller transition capability is implemented, then system reliability improves by preventing patient entrapment, but device complexity increases due to redundant controller systems
Solution Approach 1:
The system uses copying by maintaining a secondary controller that contains hibernated copies of the control processes. Instead of implementing fully independent redundant systems, the secondary controller holds replicated process images that can be rapidly activated, reducing the complexity overhead while maintaining reliability through the ability to transition control.
Solution Approach 2:
The secondary controller is designed with multi-functionality, serving both as a backup controller with hibernated processes and as an active controller when needed. This universal design allows the same hardware and software architecture to fulfill multiple roles, reducing overall system complexity while maintaining continuous control capability and preventing patient entrapment.
Data Source
AI summary
A robotic surgical system and method are disclosed for transitioning control to a secondary robotic arm controller. In one embodiment, a robotic surgical system comprises a user console comprising a display device and a user input device; a robotic arm configured to be coupled to an operating table; a primary robotic arm controller configured to move the robotic arm in response to a signal received from the user input device at the user console; and a secondary robotic arm controller configured to move the robotic arm in response to a signal received from a user input device remote from the user console. Control over movement of the robotic arm is transitioned from the primary robotic arm controller to the secondary robotic arm controller in response to a failure in the primary robotic arm controller. Other embodiments are provided.