Surgical Robot Teleoperation Engagement Using Intentional Input Sequences
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Solution Overview
Problem
Surgical robotic systems lack a simple and safe method for engaging and disengaging teleoperation mode, which can lead to unintentional tool movement and complexity in operation, potentially causing harm to patients.
Innovation Solution
A surgical robotic system that detects intentional user actions through a sequence of inputs from user interface devices, such as tapping, squeezing, or positioning, to automatically engage or disengage the teleoperation mode, using a combination of handheld and foot pedals to ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a simple engagement method is used, then ease of operation is improved, but reliability deteriorates due to risk of unintentional tool movement
Solution Approach 1:
The system requires the user to perform a preliminary intentional action (such as pressing a specific button or moving a specific control element) before the teleoperation mode can be engaged. This preliminary action serves as a safety check to ensure the user deliberately intends to engage the mode, preventing accidental activation while maintaining operational simplicity.
2Reliability
If multiple safety requirements are implemented, then reliability is improved, but device complexity increases making it difficult for users to remember and follow
Solution Approach 1:
Multiple safety checks and verification steps are merged into a single integrated user action. Instead of requiring users to separately perform multiple safety verifications, the system combines these into one unified gesture or button press that inherently satisfies all safety requirements, reducing memory burden while maintaining reliability.
Solution Approach 2:
The system automatically performs safety verifications and mode engagement confirmations without requiring users to manually check multiple conditions. The robotic system self-verify the user's intent through the designed interaction pattern and automatically manages the engagement state, reducing the cognitive load on users.
3Ease of operation
If automatic detection of intentional actions is implemented, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The system replaces complex mechanical detection mechanisms with software-based interpretation of standard user interface inputs. Instead of requiring specialized sensors or complex mechanical switches, the system uses software to detect and interpret intentional actions through conventional user interface elements, reducing hardware complexity while enabling automatic mode engagement.
Data Source
AI summary
A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.