Robotic Surgical Controls With Proximity Feedback Mode Switching
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, hindering decision-making and control precision.
Innovation Solution
A control system for robotic surgical systems that includes a surgical tool with an input control device and a feedback generator, allowing for precise control motions and feedback signals based on distance thresholds, enabling enhanced visualization and control through a combination of precision and gross input control modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If conventional imaging systems are used to visualize the surgical site, then the system structure remains simple, but the ability to recognize and convey concealed structures, physical contours, and dimensions is limited
Solution Approach 1:
The patent introduces an intermediary processing system that receives raw imaging data and enhances it by reconstructing concealed structures, physical contours, and dimensions. This intermediary layer processes the visual information to reveal hidden anatomical features without requiring a complete redesign of the fundamental imaging system architecture.
Solution Approach 2:
The patent employs techniques to reconstruct three-dimensional anatomical structures and concealed features from two-dimensional imaging data. By adding dimensional information and spatial context to the visual display, the system reveals hidden structures and physical contours that would be imperceptible in conventional flat imaging.
2Manufacturing precision
If the input control device provides only basic control motions, then the device complexity remains low, but the control precision and effectiveness for tissue manipulation is insufficient
Solution Approach 1:
The patent implements dynamic control modes that adapt the input control device's functionality based on the surgical context. The system transitions between gross motion mode for general positioning and precision mode for fine tissue manipulation, with the control parameters and feedback mechanisms dynamically adjusting to provide appropriate precision at each stage.
Solution Approach 2:
The patent incorporates feedback mechanisms that provide real-time information to the clinician about the surgical tool's position, tissue proximity, and operational status. This feedback loop enables more precise control by allowing the clinician to adjust input motions based on system responses, thereby improving control effectiveness without requiring overly complex mechanical structures.
3Adaptability or versatility
If the surgical system operates in a single operational mode, then the system simplicity is maintained, but the adaptability to different surgical scenarios and tissue types is reduced
Solution Approach 1:
The patent implements dynamic control modes that adapt the input control device's functionality based on the surgical context. The system transitions between gross motion mode for general positioning and precision mode for fine tissue manipulation, with the control parameters and feedback mechanisms dynamically adjusting to provide appropriate precision at each stage.
Solution Approach 2:
The patent designs the input control device to perform multiple functions across different operational modes. The same physical device handles both gross positioning and fine precision control, as well as coordinating multiple surgical tools, thereby achieving versatility without proportionally increasing mechanical complexity.
4Reliability
If the system lacks feedback capabilities, then the system complexity is reduced, but the clinician's decision-making process and control accuracy are hindered
Solution Approach 1:
The patent incorporates feedback mechanisms that provide real-time information to the clinician about the surgical tool's position, tissue proximity, and operational status. This feedback loop enables more precise control by allowing the clinician to adjust input motions based on system responses, thereby improving control effectiveness without requiring overly complex mechanical structures.
Data Source
AI summary
An input control device is disclosed. The input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.