Robotic Surgical Instrument Obstruction Detection via Force-Torque Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic surgical systems struggle to seamlessly switch between semi-autonomous and manual modes during a procedure, particularly in situations where manual intervention is needed to avoid collisions or precise adjustments.
Innovation Solution
A surgical manipulator system equipped with sensors to detect forces and torques, allowing it to switch between manual and semi-autonomous modes, preventing instrument movement beyond defined boundaries and enabling real-time manual adjustments while maintaining predefined paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic system operates in semi-autonomous mode with preprogrammed paths, then the precision and consistency of instrument movement along the cutting path is improved, but the ability to respond to unexpected obstructions or tissue variations deteriorates
Solution Approach 1:
The robotic system dynamically switches between semi-autonomous mode (for precision along predefined paths) and manual mode (for handling obstructions). The system transitions from rigid preprogrammed operation to flexible practitioner control when obstructions are detected, resolving the contradiction between precision and adaptability.
Solution Approach 2:
The system continuously monitors forces and torques during instrument advancement and provides feedback to detect obstructions. When resistance exceeds thresholds, the system alerts the practitioner and can pause semi-autonomous operation, allowing real-time adaptation while maintaining overall precision of the surgical path.
2Adaptability or versatility
If the robotic system allows manual mode operation for real-time adjustments, then the adaptability to handle unexpected situations is improved, but the precision and consistency of following the predefined cutting path deteriorates
Solution Approach 1:
The system allows dynamic switching between manual and semi-autonomous modes. When practitioners need to navigate obstructions, they can temporarily take full control, then return to preprogrammed path following once the obstruction is cleared, maintaining both adaptability and precision throughout the procedure.
Solution Approach 2:
The control system acts as an intermediary between the practitioner's manual inputs and the robotic manipulator. Even in manual mode, the system can provide guidance or constraints to help the practitioner return to the predefined cutting path after handling obstructions, balancing freedom of maneuver with path accuracy.
3Reliability
If the system continuously monitors forces and torques to detect obstructions, then the safety and reliability of the surgical procedure is improved, but the complexity of the control system deteriorates
Solution Approach 1:
The robotic system monitors its own operational parameters (forces and torques) during instrument advancement. This self-monitoring capability enables automatic obstruction detection without requiring external monitoring equipment, improving safety while managing complexity through integrated sensing.
Solution Approach 2:
The system uses changes in force and torque parameters as indicators of obstructions. By monitoring these physical parameters and comparing them against predefined thresholds, the system achieves reliable obstruction detection through relatively simple threshold-based logic rather than complex analysis algorithms.
4Reliability
If the robotic system requires continuous practitioner input to advance the instrument in semi-autonomous mode, then the safety and control over the procedure is improved, but the productivity and efficiency of the surgical procedure deteriorates
Solution Approach 1:
In semi-autonomous mode, once the practitioner initiates advancement, the system continues moving the instrument along the predefined cutting path without requiring continuous input commands. This maintains continuous useful action (precise path following) while requiring only periodic practitioner oversight, balancing safety with efficiency.
Solution Approach 2:
The continuous force/torque monitoring provides automatic feedback that alerts the practitioner only when obstructions are detected. This allows the system to operate efficiently in semi-autonomous mode with minimal practitioner input, while maintaining safety through automated monitoring that intervenes only when necessary.
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
Enables precise and safe instrument movement by emulating practitioner control in manual mode and adhering to predefined paths in semi-autonomous mode, enhancing surgical precision and safety.
Implementation Method 1
A sensor is coupled to the robotic manipulator and is configured to sense forces/torques applied to the surgical instrument
Data Source
AI summary
A surgical system and method involve a robotic manipulator with a plurality of links and actuators and an end effector supporting a surgical instrument. A sensor is coupled to the robotic manipulator and is configured to sense forces/torques applied to the surgical instrument. The surgical system includes controller(s) to operate the robotic manipulator in a semi-autonomous mode, and in the semi-autonomous mode, the robotic manipulator is controlled to advance the surgical instrument along a cutting path to remove material from a target site. During advancement of the surgical instrument along the cutting path in the semi-autonomous mode, the controller(s) evaluate forces/torques sensed by the sensor to detect an obstruction to the surgical instrument. In response to detection of the obstruction, the controller(s) perform an action to address the obstruction.