Surgical Robotic Mode Switching to Limit Intraocular Instrument Damage
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Solution Overview
Problem
The potential for human operators to unintentionally inflict damage during intraocular procedures due to incorrect control of surgical instruments in surgical robotic systems, particularly when granted extensive control over the pose of the instrument.
Innovation Solution
A surgical robotic system with a processor subsystem that switches between operational modes, allowing human operators to adjust the pose of surgical instruments across multiple degrees of freedom in a first mode and limiting control to a subset of degrees of freedom in a second mode, with the processor exerting control in the latter to reduce the risk of accidental damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the human operator is granted extensive control over the pose of the surgical instrument across multiple degrees of freedom, then the ease of operation is improved, but the reliability deteriorates due to the potential for unintentional damage
Solution Approach 1:
The system dynamically switches between operational modes (first mode with extensive operator control across multiple degrees of freedom, second mode with limited control) based on real-time surgical conditions. The processor subsystem automatically transitions control authority between the human operator and the robotic system, making the control architecture adaptive rather than static.
Solution Approach 2:
The processor subsystem acts as an intermediary between the human operator and the surgical instrument. It receives operator commands and intelligently filters, modifies, or rejects them based on the current operational mode and surgical context, preventing direct transmission of potentially harmful commands while preserving useful operator input.
2Adaptability or versatility
If the human operator controls the surgical instrument across multiple degrees of freedom, then the adaptability is improved, but the object-affected harmful factors increase due to incorrect control
Solution Approach 1:
The system adapts its control characteristics dynamically by switching between operational modes. In the first mode, the system provides high adaptability to operator input across multiple degrees of freedom. In the second mode, it automatically reduces adaptability to prevent harmful actions, creating a dynamic balance between versatility and safety.
Solution Approach 2:
The processor subsystem preemptively prevents harmful actions by switching to the second operational mode before damage can occur. It anticipates potential harmful outcomes by monitoring surgical conditions and proactively limiting control authority, rather than reacting after harm has been inflicted.
3Reliability
If the processor subsystem limits human operator control to a subset of degrees of freedom, then the reliability is improved, but the ease of operation deteriorates
Solution Approach 1:
The system dynamically adjusts the level of operator control based on real-time conditions. When switching to the second operational mode, it temporarily limits control to essential degrees of freedom, reducing reliability risks. When conditions permit, it transitions back to the first mode, restoring full operator control and ease of operation.
Solution Approach 2:
The system periodically evaluates surgical conditions and switches between operational modes as needed. This periodic assessment allows the system to oscillate between high-reliability/low-ease-of-operation states and low-reliability/high-ease-of-operation states, optimizing the balance continuously throughout the procedure.
Data Source
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AI summary
A surgical robotic system is provided for use in an intraocular procedure. The surgical robotic system comprises a surgical arm comprising a movable arm part for holding a surgical instrument, a human machine interface for receiving operator commands from a human operator, and a processor subsystem configured to control one or more actuators to control a pose of the surgical instrument based on the operator commands. The surgical robotic system may be configured to operate in a first operational mode in which the human operator is enabled to adjust the pose of the surgical instrument across multiple degrees of freedom, to switch from the first operational mode to a second operational mode in response to a trigger, and in the second operational mode, exert control over the pose of the surgical instrument across one or a subset of the degrees of freedom.