Robot Grasper Re-Engagement by UID Jaw and Force Matching
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Solution Overview
Problem
Surgical robotic systems face challenges in safely engaging and re-engaging teleoperation modes to prevent unintended movements of surgical tools that could cause tissue damage.
Innovation Solution
A method and system that determines when a user interface device (UID) matches the surgical robotic grasper in terms of jaw angle and grip force before engaging or re-engaging teleoperation, using a state machine algorithm to ensure safe transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If teleoperation is engaged without matching UID to grasper state, then teleoperation can be initiated quickly, but the risk of tissue damage or equipment damage increases due to sudden movements
Solution Approach 1:
The system performs preliminary matching between UID grasper state and robotic grasper state before allowing teleoperation engagement. The processor compares the UID grasper part position/orientation with the robotic grasper jaw angle and grip force, and only permits engagement when they match within a threshold, preventing sudden movements that could cause damage
Solution Approach 2:
The system continuously monitors and compares the state of the UID grasper part with the robotic grasper state during the engagement process. The processor provides feedback by determining whether the states match and controlling the engagement based on this comparison, ensuring safe transition to teleoperation mode
2Reliability
If a state machine algorithm with multiple states is used to match UID to grasper, then the safety and precision of teleoperation engagement is improved, but the complexity of the control system increases
Solution Approach 1:
The control system is segmented into distinct states within a state machine algorithm: initial state (teleoperation disengaged), matching state (comparing UID and grasper states), and engaged state (teleoperation active). This segmentation allows systematic handling of the matching process while maintaining clarity and manageability of the control logic
Solution Approach 2:
The state machine algorithm dynamically transitions between states based on the matching condition. The processor evaluates whether UID grasper part state matches robotic grasper state and transitions from disengaged to engaged state accordingly, providing adaptive control that responds to real-time conditions without requiring overly complex static control structures
Data Source
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AI summary
A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.