Robotic Tool Exchange Using Guided Insertion Trajectories
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Solution Overview
Problem
Current robotic systems, particularly in medical and surgical contexts, face challenges in efficiently exchanging tools during procedures due to time-consuming tool changes and the risk of unintended contact with patient anatomy, as manual insertion can be difficult and prone to errors.
Innovation Solution
A computer-assisted medical system with a manipulator arm and controller that determines a kinematic configuration, reference geometry, and insertion trajectory for a replacement tool, allowing it to follow the path of the previous tool, providing guided insertion and force feedback to ensure accurate and efficient tool exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual tool exchange is performed during robotic surgical procedure, then tool replacement can be accomplished, but the process is time-consuming and prone to errors
Solution Approach 1:
The system pre-calculates the insertion trajectory for the replacement tool based on the previous tool's geometry and kinematic configuration before the actual tool exchange occurs. This preliminary planning enables the replacement tool to be quickly inserted along a predetermined safe path, reducing exchange time while avoiding collisions with patient anatomy.
Solution Approach 2:
The system creates a virtual model of the replacement tool and uses the previous tool's reference geometry to generate an insertion trajectory. The virtual manipulator assembly mirrors the physical manipulator's configuration, allowing virtual simulation and planning of the insertion path before physical execution, thereby speeding up the tool exchange process.
2Ease of operation
If operator manually inserts replacement tool into surgical site, then tool can be positioned, but risk of unintended contact with patient anatomy increases
Solution Approach 1:
A virtual model of the replacement tool is created and used to simulate the insertion process in a virtual environment. The virtual manipulator assembly replicates the physical manipulator's kinematic configuration, allowing the system to pre-validate the insertion trajectory for safety before physical execution, thereby eliminating unintended contact with patient anatomy.
Solution Approach 2:
The system continuously monitors the physical manipulator's position and compares it with the virtual manipulator's trajectory. Real-time feedback ensures the replacement tool follows the pre-calculated safe insertion path, preventing deviations that could cause unintended contact with patient anatomy while maintaining ease of operation.
3Object-affected harmful factors
If operator moves new tool slowly into surgical site to avoid contact, then safety is improved, but insertion time increases
Solution Approach 1:
The insertion trajectory is pre-calculated and validated for safety before the actual insertion begins. By determining the complete safe path in advance based on the previous tool's geometry and the surgical site's constraints, the system enables the replacement tool to be inserted at optimal speed without compromising safety, thus reducing insertion time while maintaining contact avoidance.
Solution Approach 2:
The virtual manipulator assembly simulates the insertion process to pre-validate the trajectory. This virtual rehearsal allows the system to identify and correct potential collision risks before physical insertion, enabling faster and safer tool exchange without the need for cautious slow movement.
4Productivity
If deep insertion is attempted to reach target location, then procedural efficiency improves, but risk of unintended contact increases
Solution Approach 1:
The system pre-calculates the insertion trajectory considering both the target location and safety constraints. By determining the optimal path in advance that accounts for patient anatomy and surgical site geometry, the system enables deep insertion to reach the target efficiently while avoiding unintended contact through proactive collision avoidance planning.
Data Source
AI summary
A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.