Robotic Tissue Removal Path Control With Dynamic Mode Switching
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Solution Overview
Problem
Current robotic surgical systems face challenges in seamlessly switching between semi-autonomous and manual modes during procedures, limiting the ability to adapt to changing conditions such as tissue movement or instrument collisions, which can lead to inefficiencies and increased risk of errors.
Innovation Solution
A surgical system comprising a manipulator and controllers that can obtain data on tissue volumes to be removed, generate tool paths, and switch between manual and semi-autonomous modes to allow for precise and adaptive instrument movement, enabling the system to adjust its operation based on real-time feedback and practitioner input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic system operates in semi-autonomous mode with preprogrammed paths, then procedural efficiency and consistency are improved, but the ability to adapt to real-time changes such as tissue movement or unexpected conditions deteriorates
Solution Approach 1:
The robotic system implements dynamic mode switching capability, allowing transition between semi-autonomous and manual control modes during the procedure. This enables the system to adapt its degree of automation based on real-time surgical conditions, combining the efficiency of preprogrammed paths with the flexibility of manual intervention when tissue movement or unexpected conditions occur
2Adaptability or versatility
If the robotic system operates in manual mode with practitioner control, then adaptability to changing conditions is improved, but procedural efficiency and consistency deteriorate
Solution Approach 1:
The system dynamically adjusts the level of automation based on procedural needs. During stable phases where preprogrammed paths are appropriate, the system operates in semi-autonomous mode for efficiency. When adaptability is needed due to tissue movement or unexpected conditions, the system transitions to manual mode, optimizing both productivity and adaptability at different stages of the procedure
3Manufacturing precision
If the robotic system uses fixed preprogrammed paths, then precision and accuracy are improved, but the ability to respond to tissue movement or collisions deteriorates
Solution Approach 1:
The system incorporates real-time monitoring and feedback mechanisms that allow the practitioner to observe instrument movement along preprogrammed paths and intervene when necessary. The feedback loop enables detection of tissue movement or potential collisions, triggering a transition from automated to manual control to maintain both precision and safety
4Adaptability or versatility
If the robotic system allows frequent mode switching between semi-autonomous and manual operation, then operational flexibility is improved, but system complexity and control difficulty increase
Solution Approach 1:
The system employs an intermediary control layer that manages the transition between semi-autonomous and manual modes. This intermediary control architecture simplifies the switching process by providing standardized protocols and interfaces, reducing the complexity burden on the practitioner while maintaining operational flexibility
Data Source
AI summary
Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.