Robotic Kinematic Chain Repositioning During Teleoperation
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Solution Overview
Problem
Robotic medical systems face challenges in intra-operative setup adjustments due to kinematic complexities, requiring users to detect and execute adjustments during procedures, which can be cumbersome and interruptive, especially for those without deep robotics knowledge.
Innovation Solution
A robotic system that detects conditions for adjustments and generates recommended adjustments, allowing users to confirm and execute them, reducing cognitive load and enabling continuous procedure supervision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual intra-operative adjustments are made by users during teleoperation, then the robotic system can be repositioned to maintain optimal procedure conditions, but the procedural efficiency decreases and cognitive load increases due to the need for user detection and execution of adjustments
Solution Approach 1:
The robotic system automatically detects conditions requiring adjustment and generates recommended adjustments without user intervention. The system monitors its own operational state, identifies when repositioning is needed, and autonomously executes the adjustment, allowing the system to serve itself rather than requiring continuous user management
Solution Approach 2:
The system continuously monitors operational parameters and provides feedback about the robotic arm's pose and procedure conditions. This feedback loop enables automatic detection of adjustment needs and allows the system to adapt its configuration based on real-time procedural requirements
2Adaptability or versatility
If users manually detect and execute intra-operative adjustments, then the robotic system can be repositioned as needed, but the complexity of system management increases due to kinematic complexities requiring deep robotics knowledge
Solution Approach 1:
The system introduces an intelligent intermediary layer between the user and the complex robotic kinematics. This intermediary automatically handles the detection and generation of adjustments, translating complex kinematic requirements into automated actions that users can supervise without needing to understand the underlying complexity
Solution Approach 2:
The robotic system autonomously manages its own configuration by detecting when adjustments are needed and generating the appropriate repositioning commands, eliminating the need for users to directly manage complex kinematic parameters
3Adaptability or versatility
If intra-operative adjustments are made during teleoperation, then the robotic system can maintain optimal positioning, but procedure interruptions occur when adjustments require stopping teleoperation
Solution Approach 1:
The system performs preliminary detection of adjustment needs during ongoing teleoperation and prepares recommended adjustments in advance. By detecting conditions and generating adjustment plans before execution, the system can minimize interruptions and maintain procedural flow
Solution Approach 2:
The system enables continuous teleoperation by automatically handling adjustments in the background. The robotic arm can be repositioned without requiring the surgeon to stop or pause the procedure, maintaining the continuity of the useful surgical action
Data Source
AI summary
Robotic medical systems can be capable of intra-operative setup adjustment. A robotic system can include comprises a kinematic chain for performing a procedure. The robotic system can be configured to detect one or more conditions encountered by the kinematic chain. The one or more conditions can correspond to a respective adjustment to a pose of the kinematic chain. In response to detecting the one or more conditions or upon user request, the robotic system can generate a recommended adjustment of the kinematic chain in accordance with the one or more conditions. The robotic system can present a notification of the recommended adjustment of the kinematic chain to a user. In accordance with a determination that a first user command to execute the recommended adjustment has been received, the robotic system can adjust the pose of the kinematic chain in accordance with the recommended adjustment.