Robotic Surgical System Coordinated Instrument Control
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Solution Overview
Problem
Robotic surgical systems face challenges in providing true force feedback to surgeons and coordinating the movement of multiple surgical instruments, leading to difficulties in communication and synchronization during procedures, which can result in complications such as instrument collisions and limited dexterity.
Innovation Solution
A robotic surgical system with movable arms and a controller that allows for coordinated movement of multiple surgical instruments, including a mode for maintaining a fixed spatial relationship and a notification mechanism for impending collisions, along with a camera system providing cues for instrument positioning within a field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic systems control multiple surgical instruments independently, then each instrument can be precisely controlled, but coordination and synchronization between instruments becomes difficult
Solution Approach 1:
The patent combines multiple independently controllable robotic arms into a coordinated system where a single surgeon can control multiple instruments simultaneously. The control system merges the operation of multiple arms under unified command, allowing synchronized movement and positioning while maintaining individual precision control for each instrument.
Solution Approach 2:
The robotic system is designed with multi-functionality to handle various surgical instruments and perform different surgical tasks through a single control interface. The system can adapt to control different types of surgical instruments (cutting, grasping, stapling) while maintaining coordinated operation across all tools.
2Measurement precision
If robotic systems provide force feedback to surgeons, then surgical precision improves, but system complexity and cost increase significantly
Solution Approach 1:
The system implements visual feedback mechanisms through high-definition cameras and display systems that provide real-time visualization of surgical sites and instrument positions. This visual feedback loop allows surgeons to maintain precision without requiring complex mechanical force feedback systems, thereby reducing overall system complexity while preserving surgical accuracy.
3Adaptability or versatility
If robotic arms move independently to access different surgical sites, then surgical versatility improves, but risk of arm collision increases
Solution Approach 1:
The control system performs preliminary planning of surgical arm trajectories and positioning before actual instrument movement. The system pre-calculates safe zones and potential collision paths, then adjusts arm movements in advance to avoid collisions while maintaining access to all necessary surgical sites. This proactive collision avoidance maintains surgical versatility without compromising safety.
Data Source
AI summary
Various exemplary methods, systems, and devices for controlling movement of a robotic surgical system are provided. In general, a plurality of surgical instruments are simultaneously usable during performance of a surgical procedure. One or more of the plurality of instruments is coupled to a robotic surgical system that is configured to control movement of the one or more of the plurality of instruments.