Robotic Tool Proximity Detection With Haptic Collision Feedback
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Solution Overview
Problem
In master-slave robotic systems used for laparoscopic surgery, collisions between surgical tools can occur due to unintended contact, leading to unexpected movements of end effectors, which can cause flickering or catching, resulting in unpredictable tool behavior.
Innovation Solution
A method is implemented in the robotic control system where a processor circuit determines the proximity of tool positioning devices by calculating distances between points on one tool positioning device and another, notifying the operator through haptic feedback, annunciation signals, and disabling movement to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple dexterous tools are deployed in close proximity during surgery, then surgical flexibility and access to difficult areas is improved, but the risk of unintended contact and collision between tools increases
Solution Approach 1:
The system performs preliminary collision detection by calculating distances between tool positioning devices before actual contact occurs. The processor circuit continuously monitors tool positions and predicts potential collisions, allowing the system to take preventive action before the harmful event happens.
Solution Approach 2:
The system provides real-time feedback to operators through haptic feedback mechanisms in the handles and visual displays. When tools approach dangerous proximity, the system generates feedback signals that inform operators of the potential collision risk, enabling them to adjust tool positions to prevent contact.
2Reliability
If real-time collision detection is implemented by calculating distances between all points on tool positioning devices, then collision prevention capability is improved, but computational complexity and processing time increases
Solution Approach 1:
The system segments the tool positioning devices into discrete sets of points rather than treating them as continuous objects. By selecting representative points along the tool paths and calculating distances only between these discrete points, the system achieves adequate collision detection without the computational burden of continuous analysis.
Solution Approach 2:
The system performs partial collision detection by monitoring only critical points and segments of the tool positioning devices rather than every possible point. This selective approach provides sufficient safety monitoring while keeping computational requirements manageable for real-time operation.
3Reliability
If haptic feedback is provided to impede handle movement when proximity criterion is met, then operator awareness and collision prevention is improved, but operator control freedom and ease of operation decreases
Solution Approach 1:
The system applies preliminary anti-action through haptic feedback forces that gently resist handle movement when tools approach dangerous proximity. Rather than completely blocking movement, the haptic feedback provides a subtle counter-force that alerts the operator to the potential collision risk while still allowing controlled movement when appropriate.
Solution Approach 2:
The haptic feedback mechanism is dynamic and adaptive, adjusting the level of resistance based on the degree of proximity and the specific surgical context. The system can modulate the strength and nature of haptic feedback to provide appropriate warnings without unduly restricting operator control or creating unnecessary operational difficulties.
Data Source
AI summary
A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle and holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves producing desired new end effector positions and orientations of respective end effectors in response to current positions and orientations of corresponding handles, using the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device, and determining and notifying that any of the distances meets a proximity criterion.