Robotic Surgical Instrument Control Beyond Shaft Rotation Limits
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Solution Overview
Problem
Existing robotic surgical systems experience sudden changes in the posture of surgical instruments when operations exceed their movable range, disrupting efficient surgery.
Innovation Solution
A robotic surgical system with a controller that restricts operations to rotate the shaft out of its rotational operating range and bend the distal end device with respect to the shaft, maintaining the posture of the operation unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the controller switches to interlock stop mode when the manipulation handle exceeds the movable range of the treatment tool, then the treatment tool posture is prevented from changing, but surgery is interrupted and efficiency decreases
Solution Approach 1:
The system dynamically adjusts the response to manipulation handle input based on whether the treatment tool is within its movable range. When within range, normal real-time control is maintained. When exceeding range, the system transitions to a restricted mode that prevents sudden posture changes while allowing continuous surgery without interruption, thus maintaining both reliability and productivity.
Solution Approach 2:
The controller changes the control parameter state from normal mode to restricted mode when detecting that the manipulation handle exceeds the movable range. This parameter change allows the system to maintain different control behaviors for different operational states, preventing sudden posture changes while avoiding complete interruption of surgical procedures.
2Stability of the object's composition
If the controller maintains interlock mode even when the manipulation handle exceeds the movable range, then the treatment tool posture remains stable, but the manipulation handle posture changes creating a mismatch
Solution Approach 1:
The controller continuously monitors the position of the manipulation handle relative to the movable range of the treatment tool and provides feedback control. When the handle exceeds the range, the system activates a restricted mode that provides feedback to prevent the treatment tool posture from diverging from the manipulation handle posture, maintaining both stability and operational ease.
3Productivity
If the controller allows real-time control when the manipulation handle is within the movable range, then surgery efficiency is maintained, but sudden posture changes occur when exceeding the range
Solution Approach 1:
The control system dynamically switches between two operational modes: normal real-time control mode when the manipulation handle is within the movable range (maintaining surgery efficiency), and restricted mode when exceeding the range (preventing sudden posture changes). This dynamic mode switching resolves the contradiction by adapting the control behavior to the current operational state.
Data Source
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AI summary
A robotic surgical system (500) includes a controller (310) configured or programmed to restrict an operation to rotate a shaft (2d) in a direction out of a rotational operating range of the shaft (2d) with an operation unit (110) and an operation to bend a distal end device (2b) with respect to the shaft (2d) with the operation unit (110) when an operation for a surgical instrument (2) received by the operation unit (110) includes an operation to rotate the shaft (2d) out of the rotational operating range of the shaft (2d).