Robotic Medical Instrument Control Using Learned Movement Patterns
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current minimally invasive medical interventions, such as vascular procedures, rely heavily on manual control of medical instruments, which can be complex and difficult to navigate, especially for intricate movements, and existing robotic assistance is limited to standard movements, making it hard for operators to replicate their learned patterns.
Innovation Solution
A medical instrument arrangement that includes a robot for active manipulation, an operational capture device to record operator movement patterns, and a control device that automatically selects and generates control movements based on the intervention situation, allowing for personalized and situation-specific robotic assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual control of medical instruments is used, then operators can apply learned movement patterns and experience, but the complexity and difficulty of navigation increase, especially for intricate movements
Solution Approach 1:
The system captures and stores operator movement patterns from manual operations, creating reusable motion templates that can be automatically replayed during robotic interventions. This copying approach preserves the operator's expertise and learned patterns while eliminating the need to manually reproduce complex navigation sequences, thereby reducing navigation complexity while maintaining adaptability.
Solution Approach 2:
The system performs preliminary capture and storage of operator movement patterns during training phases before actual interventions. By pre-recording and organizing these patterns in a database, the system prepares reusable motion templates in advance, allowing the robot to automatically select and execute appropriate patterns during procedures without requiring real-time manual manipulation, thus reducing operational complexity.
2Extent of automation
If robots are used for active manipulation, then standard movements can be automated, but the ability to replicate learned operator patterns is limited
Solution Approach 1:
The system captures operator movement patterns during training and stores them in a database, enabling the robot to copy these patterns during automated operations. This copying mechanism extends the robot's movement repertoire beyond pre-programmed standard movements to include personalized operator techniques and expertise.
Solution Approach 2:
The system dynamically adapts the robot's behavior by selecting appropriate movement patterns from the database based on the current intervention situation. Rather than executing fixed pre-programmed movements, the robot dynamically chooses and reproduces operator patterns that best match the present clinical context, enhancing both automation and adaptability.
3Measurement precision
If complex movement patterns are used for navigation, then precise positioning can be achieved, but the ease of operation decreases
Solution Approach 1:
The system performs preliminary capture of complex operator movement patterns during training phases and stores them in a database. By pre-processing and organizing these patterns, the system eliminates the need for operators to manually execute complex navigation sequences during actual interventions, improving ease of operation while preserving positioning accuracy through automated pattern reproduction.
Solution Approach 2:
The system copies precisely recorded operator movement patterns from training sessions and reproduces them automatically during robotic interventions. This copying approach preserves the high precision of expert operator techniques while eliminating the manual effort and complexity involved in executing such patterns, thereby improving ease of operation without sacrificing positioning accuracy.
Data Source
AI summary
A medical instrument arrangement includes: a medical instrument having a proximal operational section for moving the instrument; a robot for active manipulation of the medical instrument on the operational section; an operational capture device for capturing operator movement patterns of the operational section of the medical instrument generated manually; and a control device. The control device is configured to: control the robot in accordance with control commands for generating corresponding movements of the operational section; determine an intervention situation for captured operator movement patterns; store captured operator movement patterns with the assigned intervention situation; and automatically select and/or generate a control movement pattern from stored operator movement patterns and/or from evaluation movement patterns deduced therefrom as a function of a present intervention situation of the situation capture unit and for the automatic implementation of the control movement pattern as control commands using the control unit.