Dual-Input Surgical Arm Control for Precise Retroflection
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Solution Overview
Problem
Current surgical systems lack optimal control elements and methods for ensuring ergonomic comfort during the retroflection of articulated surgical arms, which is crucial for minimally invasive procedures like transvaginal gynecological surgery, without impacting surgeon ergonomics or restricting movement freedom.
Innovation Solution
A surgical system with an articulated mechanical arm and dual user-input devices operates in a retroflexing mode to control a single arm joint for retroflection, transitioning to a surgical-operation mode to enable flexible control of multiple arm joints, ensuring ergonomic comfort and precise surgical actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single user-input device is used for controlling multiple arm joints during retroflection, then device complexity is reduced, but surgeon ergonomics deteriorate due to restricted movement freedom
Solution Approach 1:
The control system is segmented into two distinct user-input devices: a first device (foot pedal) dedicated to retroflection control and a second device (hand controller) dedicated to surgical operation control. This segmentation allows each device to be optimized for its specific function, improving surgeon ergonomics without increasing overall system complexity.
2Adaptability or versatility
If multiple arm joints are controlled simultaneously during retroflection, then movement freedom is improved, but control precision deteriorates due to lack of dedicated control elements
Solution Approach 1:
The patent segments the control functions by restricting the first user-input device to control only a single arm joint for retroflection, while the second device controls multiple joints during surgery. This ensures precise control during retroflection while maintaining movement freedom during surgical operations.
Solution Approach 2:
The system dynamically transitions between two operational modes: retroflection mode where only one joint is controllable, and surgical operation mode where multiple joints are controllable. This dynamic adaptation optimizes control precision for each phase of the procedure.
3Ease of operation
If the same input device is used for both retroflection and surgical operations, then ease of operation is improved, but reliability deteriorates due to mode confusion
Solution Approach 1:
The patent assigns dedicated input devices to each operational mode: foot pedal for retroflection and hand controller for surgical operations. This eliminates mode confusion and improves reliability by ensuring the surgeon uses the appropriate device for each task.
Solution Approach 2:
The system employs an intermediary control architecture where the foot pedal acts as a mediator for retroflection actions and the hand controller mediates surgical operations. This intermediary structure prevents direct interference between the two control functions, enhancing overall system reliability.
Data Source
AI summary
A surgical system, comprising an articulated mechanical arm with a plurality of arm joints, first and second user-input devices for controlling the arm, and a surgical end effector at the distal end of the arm, is operated initially in a retroflexing mode with the first user-input device is active to direct flexion and rotation of only a single given arm joints, and with the second user-input device is disabled. While in the retroflexing mode, a distal portion of the arm is retroflected by flexion and rotation of the single given arm joint. With the arm retroflected, the system is transitioned to surgical-operation mode which enables the second user-input device to flex and rotate any or all of the arm joints, to move the surgical end-effector to perform one or more surgical actions.