Robotic Tool Exchange Using Prior Kinematics for Guided Insertion
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Solution Overview
Problem
Current robotic systems face challenges in efficiently exchanging tools during procedures, such as surgeries, due to time-consuming tool changes and the risk of unintended contact with patient anatomy, especially when inserting new tools into the surgical site.
Innovation Solution
A computer-assisted medical system with a manipulator arm, actuator system, and sensor system, controlled by a processor to determine the kinematic configuration of a previous tool, plan a trajectory for a replacement tool, and move it into place, adjusting joint angles to follow non-straight paths and provide force feedback to ensure accurate insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual tool exchange is performed during robotic procedures, then tool replacement can be accomplished, but the process becomes time-consuming and risks unintended contact with patient anatomy
Solution Approach 1:
The system determines the kinematic configuration of the previous tool before removal and uses this information to pre-plan the insertion trajectory for the replacement tool. This preliminary action allows the replacement tool to be guided along a predetermined safe path, eliminating the need for slow manual positioning and reducing tool exchange time while preventing unintended contact with anatomy.
2Ease of operation
If manual insertion of replacement tool is performed, then tool replacement can be completed, but the operator may misjudge insertion depth and cause unintended contact with anatomy
Solution Approach 1:
The system uses sensor data to determine the kinematic configuration of the previous tool and provides feedback to control the actuator system. This feedback mechanism guides the replacement tool along a trajectory that replicates the previous tool's insertion path, ensuring accurate depth control and preventing unintended contact with anatomy while maintaining ease of operation through automated control.
3Object-affected harmful factors
If the replacement tool is inserted slowly to avoid contact with anatomy, then safety is improved, but the overall procedure time increases
Solution Approach 1:
The system pre-determines the insertion trajectory by analyzing the kinematic configuration of the previous tool before removal. This preliminary planning allows the replacement tool to be inserted rapidly along a pre-calculated safe path, eliminating the need for slow incremental insertion while maintaining safety by avoiding contact with anatomy that the trajectory analysis has already identified as clear.
Data Source
AI summary
A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.