Robotic Instrument Proximity Detection With Haptic Collision Feedback
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Solution Overview
Problem
In master-slave robotic systems, particularly during laparoscopic surgery, there is a challenge in preventing collisions between surgical tools and robotic manipulators, which can lead to unintended movement due to physical contact, causing tools to catch and flick unexpectedly.
Innovation Solution
A method is implemented in the robotic control system where a processor circuit determines the positions and orientations of end effectors based on handle movements, calculates distances between tool positioning devices, and notifies operators of proximity criteria, providing haptic feedback, annunciation signals, or disabling movement to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple dexterous tools are deployed in close proximity during surgery, then surgical versatility and access to difficult areas is improved, but the risk of unintended contact and collision between instruments increases
Solution Approach 1:
The system performs preliminary collision detection by calculating predicted end effector positions and orientations before actual movement occurs. The processor circuit determines distances between tool positioning devices based on desired new positions, allowing the system to anticipate and prevent collisions before they happen by providing advance warning to the operator.
Solution Approach 2:
The system implements continuous feedback through haptic feedback mechanisms that provide force feedback to the operator when tools approach dangerous proximity. The processor circuit constantly monitors distances between tools and provides real-time haptic warnings, allowing the operator to adjust tool positions to prevent collision while maintaining surgical versatility.
2Reliability
If real-time collision detection and haptic feedback are implemented, then safety and reliability is improved, but system complexity and computational load increases
Solution Approach 1:
The system extracts only the critical collision detection functionality from the overall control system. The processor circuit focuses specifically on calculating distances between tool positioning devices and determining proximity criteria, separating this safety function from other surgical control functions. This modular approach maintains high detection accuracy while managing system complexity.
Solution Approach 2:
The system uses virtual models or digital representations of tool positioning devices to perform collision detection calculations. Instead of requiring complex physical sensors on each tool, the processor circuit works with calculated positions and orientations of end effectors, creating a virtual simulation of tool positions to detect potential collisions efficiently.
3Reliability
If haptic feedback is provided to warn of proximity, then operator awareness and safety is improved, but the natural movement and ease of operation may be impeded
Solution Approach 1:
The haptic feedback provides preliminary anti-action by applying counteracting force only when tools approach dangerous proximity thresholds. The force feedback is activated conditionally based on distance calculations, providing warning before collision occurs but not continuously restricting movement. This allows natural operation during safe conditions while preventing dangerous movements near collision zones.
Data Source
AI summary
A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle and holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves producing desired new end effector positions and orientations of respective end effectors in response to current positions and orientations of corresponding handles, using the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device, and determining and notifying that any of the distances meets a proximity criterion.