Dual Mode Robotic Surgical Control with Proximity Sensing
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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 precision.
Innovation Solution
A control system incorporating a robotic surgical tool with a tissue proximity detection system and a user input device featuring multiple sensors, including force, displacement, and jaw sensors, which adjusts operational modes based on proximity data to enhance precision and control of the robotic tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If conventional imaging systems are used to visualize the surgical site, then the system structure remains simple, but the ability to recognize and convey concealed structures and three-dimensional information is insufficient
Solution Approach 1:
The patent combines multiple sensing modalities (force sensors, displacement sensors, jaw sensors) with the imaging system to create an integrated control system that provides both visual and tactile feedback about concealed structures and three-dimensional spatial relationships during robotic surgery
Solution Approach 2:
The control system acts as an intermediary between the robotic surgical tool and the clinician, processing data from multiple sensors and translating it into enhanced visualization information that reveals concealed structures and spatial contours that conventional imaging alone cannot detect
2Manufacturing precision
If a single control mode is used for the robotic surgical tool, then the control system remains simple, but the precision and adaptability during different surgical phases are limited
Solution Approach 1:
The control system dynamically switches between multiple operational modes (e.g., coarse positioning mode, fine positioning mode, precision cutting mode) based on real-time sensor feedback, allowing the robotic surgical tool to adapt its control precision and response characteristics to different surgical phases and tissue types
Solution Approach 2:
The system changes control parameters such as gain, scaling, and responsiveness based on the detected surgical context and proximity to anatomical structures, enabling precise control during critical phases while maintaining operational efficiency during less critical phases
3Measurement precision
If real-time proximity detection is implemented, then the control precision is improved, but the device complexity and sensor requirements increase
Solution Approach 1:
The sensor system is segmented into multiple specialized sensors (force sensors in the base, displacement sensors in the forearm support, jaw sensors in the handpiece) that each measure specific parameters, with their data integrated by the control system to provide comprehensive proximity detection without requiring a single complex sensor
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system improves the precision and control of robotic surgical tools by enabling real-time detection of anatomical structures and adjusting control modes accordingly, thereby overcoming the limitations of conventional imaging systems in providing essential visualization data.
Implementation Method 1
a base including a force sensor
Implementation Method 2
a displacement sensor configured to detect movement of the collective unit
Implementation Method 3
a jaw sensor configured to detect pivotal movement of the jaw
Implementation Method 4
a tissue proximity detection system configured to intraoperatively detect a distance between the robotic surgical tool and an anatomical structure
Data Source
AI summary
An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.