Teleoperated Surgical Arm Setup via Pre-Established Positions

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Solution Overview

Problem

Current teleoperated medical systems face challenges in efficiently and intuitively controlling motorized surgical arms during setup and minimally invasive procedures, requiring complex and time-consuming manual adjustments that can lead to errors and increased patient trauma.

Innovation Solution

A guided setup system with a motorized setup structure and input device that allows users to move motorized surgical arms to pre-established positions based on anatomical and approach inputs, using a processing system to control the arms and rotate a rotatable platform, facilitating draping, docking, and stowing positions for enhanced ease of use and precision.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If manual adjustments are used to control motorized surgical arms during setup, then the system provides flexibility in positioning, but the setup time increases and error risk increases

Engineering Contradiction:

Improvesetup timeVSAvoidoperation complexity

Core Design Contradiction:

Loss of timeVSEase of operation

Solution Approach 1:

The system pre-establishes multiple predetermined positions (docking position, draping position, stowed position, etc.) for the surgical arms before the actual surgical procedure begins. These positions are calculated and stored in advance based on the selected surgical approach and patient anatomy, allowing the arms to be quickly moved to appropriate positions without requiring time-consuming manual adjustments during setup.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system changes the control parameter from continuous manual positioning to discrete predetermined position selection. By offering a有限 set of pre-calculated positions (e.g., docking, draping, stowed), the system simplifies the operator's task while maintaining flexibility through the ability to select different positions based on procedural needs.

Inventive Principle:

Principle #35Parameter changes

2Manufacturing precision

If pre-established positions are used for motorized surgical arms, then setup time is reduced and precision is improved, but the system complexity increases

Engineering Contradiction:

Improvepositioning precisionVSAvoidsystem complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The control system is designed to handle multiple surgical approaches (e.g., left lateral, right lateral, supine, prone) and automatically provides appropriate predetermined positions for each approach. This universal system replaces multiple specialized positioning mechanisms, reducing overall system complexity while maintaining high positioning precision across different surgical scenarios.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system introduces a control system as an intermediary between the operator and the surgical arms. This intermediary automatically calculates and executes precise arm positions based on selected parameters, eliminating the need for complex manual coordination and reducing the operational burden on the surgeon while achieving high positioning accuracy.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If multiple predetermined positions are provided for surgical arms, then operational flexibility is improved, but the device complexity increases

Engineering Contradiction:

Improvepositioning flexibilityVSAvoidcontrol complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The surgical procedure is segmented into distinct phases (docking, draping, surgery, stowing), and the system provides specific predetermined positions for each phase. This segmentation allows the control system to manage complexity by handling one phase at a time with its appropriate positions, rather than managing all possible positions simultaneously, thereby improving flexibility without proportionally increasing control complexity.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS11666400B2Automated structure with pre-established arm positions in a teleoperated medical system

Publication Date: 2023.06.06 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.