Robotic Surgical Control Device Jaw Coordination
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, hindering decision-making and control of robotic systems.
Innovation Solution
A control system for robotic surgical systems that includes a robotic tool with a movable jaw and an input control device featuring a linear actuator and pivotable jaw, along with a control circuit that processes user input signals to accurately position and control the robotic tool, enhancing visualization and control capabilities through improved data transmission and feedback mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional imaging systems are used to view the surgical site, then the system structure remains simple, but the ability to recognize and convey concealed structures, physical contours, and dimensions is limited
Solution Approach 1:
The patent introduces an intermediary coordinate system transformation mechanism that converts imaging data from one coordinate system to another, enabling the conveyance of concealed three-dimensional structures through two-dimensional imaging displays. This mediator layer preserves information about depth, contour, and dimension without requiring complex volumetric imaging hardware.
Solution Approach 2:
The patent applies dimensionality transformation by mapping three-dimensional surgical site information into enhanced two-dimensional visual representations. Through coordinate system transformations and geometric calculations, the system reveals concealed spatial information (depth, contours, dimensions) on standard 2D displays without requiring 3D imaging hardware.
2Measurement precision
If robotic tools are controlled without coordinated input devices, then the control system remains simple, but the precision and effectiveness of robotic tool control is reduced
Solution Approach 1:
The control system is segmented into multiple coordinated components: imaging system, robotic tools, and input control devices, each with specific functions. The input control devices are divided into multiple units that can independently or collectively control different robotic tools, allowing precise control without requiring a monolithic complex control architecture.
Solution Approach 2:
The patent implements feedback mechanisms where the control system receives input from imaging systems and automatically adjusts robotic tool positions and orientations. This automated feedback loop enhances control precision by continuously aligning robotic tools with anatomical landmarks identified in imaging data, reducing the need for manual precision adjustments.
3Reliability
If manual control of robotic tools is used without automated positioning, then the control method remains simple, but the surgical precision and safety are compromised
Solution Approach 1:
The robotic system performs self-positioning and self-alignment operations by automatically calculating tool trajectories and adjusting positions based on imaging data. The system serves itself by autonomously correcting positioning errors and maintaining optimal tool orientations without requiring constant manual intervention, thereby enhancing surgical safety.
Solution Approach 2:
The system performs preliminary positioning and orientation calculations before actual surgical operations. By pre-planning tool trajectories and pre-positioning robotic instruments based on three-dimensional imaging data, the system ensures accurate and safe surgical execution, reducing the risk of errors during the actual procedure.
Data Source
AI summary
An input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.