Robotic Surgical System Instrument Coordination and Collision Avoidance
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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.
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 for guiding instruments into the field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic systems control multiple surgical instruments, then coordination and synchronization are improved, but device complexity increases
Solution Approach 1:
The master surgical instrument acts as an intermediary that coordinates the movement of other follower instruments. The master instrument's movements are detected and used to automatically control the follower instruments, eliminating the need for complex multi-instrument control systems while maintaining coordination.
Solution Approach 2:
The follower instruments replicate or copy the movement patterns of the master instrument. By copying the master instrument's trajectory and actions, the system achieves coordinated multi-instrument control through a simplified master-followers architecture rather than complex independent control for each instrument.
2Measurement precision
If robotic systems provide force feedback to surgeons, then control precision is improved, but cost and complexity increase significantly
Solution Approach 1:
The system replaces complex mechanical force feedback mechanisms with visual and positional feedback through imaging systems. Instead of providing tactile force feedback through mechanical means, the system uses visual displays showing instrument positions and spatial relationships to give surgeons precise control information.
3Productivity
If robotic systems move instruments quickly between quadrants, then surgical efficiency is improved, but collision risk increases
Solution Approach 1:
The system continuously monitors the positions of all instruments and provides real-time visual feedback to the surgeon. The imaging system displays the spatial relationships and positions of instruments, allowing the surgeon to see potential collision risks before they occur, enabling safe rapid movement between quadrants.
Solution Approach 2:
The system performs preliminary positioning and planning of instrument movements. Before moving instruments between quadrants, the system calculates safe trajectories and positions, and the visual feedback system prepares the surgeon with information about upcoming movements and potential obstacles.
4Ease of operation
If robotic systems maintain fixed spatial relationships between instruments, then coordination is improved, but flexibility in independent instrument control is reduced
Solution Approach 1:
The system dynamically switches between coordinated mode (maintaining fixed spatial relationships) and independent mode (allowing separate control). The master-followers architecture allows instruments to transition between being coordinated together and operating independently, providing both spatial coordination and control flexibility as needed.
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 can be simultaneously in use during performance of a surgical procedure. One or more of the plurality of instruments can be coupled to a robotic surgical system, which can be configured to control movement of the one or more of the plurality of instruments.