Robotic Instrument Intent Detection for Drop-In Surgical Object Handling
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Solution Overview
Problem
Existing computer-assisted surgical systems lack integration of non-robotic instruments, requiring complex maneuvers to interact with drop-in instruments, which complicates surgical procedures.
Innovation Solution
A system that includes a processor to detect the intent of a user to interact with a target object, determine its pose, and facilitate robotic instrument interaction using imaging and computer vision techniques to simplify the process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a grasper surgical instrument is used to grasp and move drop-in instruments, then the non-robotic instruments can be manipulated in the surgical space, but the surgeon must perform complex maneuvers to pick up and position the drop-in instrument, increasing operation complexity
Solution Approach 1:
The system detects the surgeon's intent to interact with the target object and automatically facilitates the interaction by determining the pose of the target object and controlling the robotic instrument to assume an intended pose, allowing the system to serve itself rather than requiring the surgeon to manually perform complex manipulation maneuvers
Solution Approach 2:
The patent replaces manual mechanical manipulation by the surgeon with an automated computer vision and control system that detects intent, determines target pose, and controls the robotic instrument accordingly, substituting complex mechanical surgeon maneuvers with automated detection and control mechanisms
2Reliability
If additional non-robotic instruments are inserted into the surgical space, then the surgeon's perception and procedure outcome are improved, but the instruments are not integrated into the manipulator arm module, requiring separate handling
Solution Approach 1:
The robotic instrument is designed to perform multiple functions: it can both directly perform surgical tasks and facilitate interaction with non-robotic drop-in instruments by grasping and positioning them, making the robotic system universal rather than requiring separate dedicated instruments for each function
Solution Approach 2:
The robotic instrument acts as an intermediary between the surgeon's intent and the non-robotic target object, detecting the intent to interact and automatically positioning the robotic instrument to facilitate the interaction, thereby mediating the complexity of handling non-integrated instruments
3Ease of operation
If the robotic instrument automatically detects and facilitates interaction with the target object, then the surgeon's workload is reduced, but the system must process and interpret user intent and target pose information
Solution Approach 1:
The system continuously monitors the surgical space, detects the surgeon's intent to interact with objects, determines the pose of target objects, and adjusts the robotic instrument's position and orientation accordingly, creating a closed-loop feedback system that automatically adapts to surgical needs and reduces surgeon workload
Data Source
AI summary
An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to: detect an intent of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object while the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform, based on the detected intent of the user to interact with the target object and the determined pose of the target object in the surgical space, an operation with respect to the target object.