Robotic Surgery Path Demonstration for Autonomous Tool Confidence
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Solution Overview
Problem
Operators in robotic surgical systems hesitate to use autonomous manipulation due to a perceived lack of control, preferring manual manipulation for surgical procedures despite the potential efficiency and accuracy of autonomous methods.
Innovation Solution
A robotic surgical system with a controller that generates demonstrative parameters to simulate planned autonomous manipulation, allowing for a non-invasive or minimally invasive demonstration of autonomous movement, providing operators with a greater sense of control and confidence before committing to autonomous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If autonomous manipulation is used, then efficiency and accuracy of surgical procedures are improved, but operator confidence and sense of control deteriorate
Solution Approach 1:
The system performs a demonstration manipulation before the actual surgical procedure to show the operator the planned autonomous movements. This preliminary action allows the operator to visualize and understand the autonomous tool's intended path and constraints, building confidence before committing to full autonomous operation.
Solution Approach 2:
The demonstrative tool acts as an intermediary between the operator and the autonomous end effector. It replicates the planned autonomous movements in a visible manner, serving as a mediator that translates abstract autonomous control parameters into observable physical demonstrations that enhance operator understanding and confidence.
2Ease of operation
If manual manipulation is used, then operator control is maintained, but efficiency and accuracy of surgical procedures deteriorate
Solution Approach 1:
The system enables dynamic switching between manual and autonomous manipulation modes. The operator can begin with manual control, transition to autonomous operation after reviewing the demonstration, or switch back if needed. This dynamic flexibility allows operators to progressively adopt autonomous manipulation while maintaining safety and control.
3Measurement precision
If invasive demonstration is used, then accuracy of autonomous manipulation is improved, but harm to anatomy increases
Solution Approach 1:
The system uses a demonstrative tool that copies the planned autonomous movements of the end effector without actually performing the invasive surgical action. The demonstrative tool follows the same path and constraints but interacts with the anatomy in a non-invasive or minimally invasive manner, allowing accurate demonstration without the harmful effects of actual tissue manipulation.
Data Source
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AI summary
Surgical systems and methods of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system include generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode and generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy. The demonstrative parameters are less invasive to the anatomy than the manipulation parameters. The tool is moved in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.