Robotic Surgical Instrument Control at Shaft Rotation Limits
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Solution Overview
Problem
Existing robotic surgical systems experience sudden changes in the posture of surgical instruments when operations exceed their movable range, disrupting efficient surgery.
Innovation Solution
A robotic surgical system with a controller that restricts operations to rotate the shaft out of its rotational range and bend the distal end device with respect to the shaft, maintaining the posture of the operation unit even when operations attempt to exceed the movable range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the interlock mode is maintained when the manipulation handle exceeds the movable range of the treatment tool, then the operation unit can continue to receive operations, but the posture of the treatment tool changes suddenly when the manipulation returns to within the movable range
Solution Approach 1:
The controller applies preliminary anti-action by restricting operations that would cause the treatment tool to exceed its movable range before such excessive operations can take effect. When a manipulation command would result in the treatment tool going beyond its movable range, the controller restricts that specific operation, preventing the harmful state from occurring in the first place rather than reacting after the problem has manifested.
Solution Approach 2:
The system dynamically adjusts the operational state based on real-time position monitoring. The controller continuously monitors the position of the treatment tool and the manipulation handle, and dynamically restricts operations only when necessary to prevent exceeding the movable range. This dynamic approach allows normal operations to proceed freely within the acceptable range while providing targeted restrictions only when needed to maintain stability.
2Stability of the object's composition
If the interlock stop mode is set each time the manipulation handle exceeds the movable range of the treatment tool, then the posture of the treatment tool remains stable, but surgery is interrupted each time and efficient surgery cannot be performed
Solution Approach 1:
The controller prevents excessive operations from causing interruptions by applying preliminary restrictions. Instead of allowing the treatment tool to exceed its movable range and then stopping the operation, the controller proactively restricts commands that would cause such exceedances, preventing the need for interlock stop mode activation and maintaining continuous surgical productivity.
Solution Approach 2:
The system employs feedback by continuously monitoring the position of the treatment tool and comparing it against the movable range limits. Based on this feedback, the controller automatically adjusts operation availability, restricting only those manipulations that would cause the treatment tool to exceed its movable range while allowing all other operations to proceed uninterrupted, thus maintaining surgical efficiency.
3Ease of operation
If the operation unit allows all operations to be received, then ease of operation is maximized, but the treatment tool may exceed its movable range causing sudden posture changes
Solution Approach 1:
The controller applies local quality by selectively restricting only specific operations that would cause the treatment tool to exceed its movable range, while allowing all other operations to proceed normally. This localized restriction approach maintains ease of operation for valid manipulations while ensuring reliability by preventing only the harmful excessive operations from being executed.
Solution Approach 2:
The system dynamically adjusts the operational state based on real-time position monitoring. The controller continuously monitors the position of the treatment tool and the manipulation handle, and dynamically restricts operations only when necessary to prevent exceeding the movable range. This dynamic approach allows normal operations to proceed freely within the acceptable range while providing targeted restrictions only when needed to maintain stability.
Data Source
AI summary
A robotic surgical system includes a controller configured or programmed to restrict an operation to rotate a shaft in a direction out of a rotational operating range of the shaft with an operation unit and an operation to bend a distal end device with respect to the shaft with the operation unit when an operation for a surgical instrument received by the operation unit includes an operation to rotate the shaft out of the rotational operating range of the shaft.