Coordinated Robotic Tool Motion Across Surgical Workspaces
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Solution Overview
Problem
Existing robotic medical systems require cumbersome and time-consuming procedures to move multiple tools (instruments and cameras) between different workspaces within a patient's body, posing hazards and inefficiencies.
Innovation Solution
A robotic surgical system with multiple robotic arms and a control unit that enables coordinated movement of tools, maintaining remote centers of motion, allowing simultaneous and coordinated movement of instruments and cameras between workspaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple tools are moved manually between workspaces, then control flexibility is maintained, but operational time increases and patient risk increases
Solution Approach 1:
The system merges the control of multiple robotic arms into a single coordinated operation. When one robotic arm moves, other arms automatically coordinate their movement to maintain proper spatial relationships and remote centers of motion, allowing all tools to be moved simultaneously between workspaces rather than sequentially
Solution Approach 2:
The control system uses feedback from the movement of one robotic arm to automatically adjust the positions of other arms. The system continuously monitors the state of each arm and makes real-time adjustments to maintain coordination, ensuring that remote centers of motion are preserved during transitions
2Productivity
If multiple tools are moved sequentially between workspaces, then control simplicity is maintained, but operational time increases and efficiency decreases
Solution Approach 1:
The robotic arms perform self-coordination through automated control algorithms. When the surgeon commands movement of one arm, the system automatically calculates and executes the coordinated movements of other arms to maintain proper spatial relationships, eliminating the need for manual coordination of each tool separately
3Reliability
If robotic arms move independently, then individual tool control is precise, but coordinated movement between workspaces becomes hazardous and time-consuming
Solution Approach 1:
The system performs preliminary coordination calculations before actual movement occurs. The control algorithm pre-computes the required positions of all robotic arms based on the intended movement, ensuring that coordinated motion is maintained throughout the transition process, which reduces both time and safety risks
Data Source
AI summary
Provided is a robotic medical system and related methods for performing coordinated movements of robotic tools inserted within a patient through multiple separate ports and maintaining remote centers of motion during the coordinated movements. In a first control mode, a first robotic tool is moved (e.g., a camera) using a first controller and multiple robotic tools are automatically moved in coordinated movements with the first robotic tool. In a second control mode, a robotic camera is controlled using a first controller and multiple robotic tools are automatically moved in coordinated movements to stay within a field of view of the robotic camera. In a third control mode, multiple robotic tools are moved in automatic coordinated movements using a first controller and a robotic camera is controlled using a second controller.