Dual-Mode Surgical Arm Control for Safe Retroflection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical systems lack optimal control elements and methods for ensuring safe and ergonomic retroflection of articulated surgical arms, which is crucial for minimally invasive surgeries, particularly in gynecological procedures.
Innovation Solution
A surgical system with an articulated mechanical arm and dual user-input devices that operates in asynchronous modes: a retroflexing mode for controlled retroflection of the arm joints, and a surgical-operation mode for flexible movement of the arm joints to perform surgical actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single user-input device is used to control all arm joints, then device complexity is reduced, but the ability to provide optimized control for retroflection versus surgical operation is compromised
Solution Approach 1:
The control system is segmented into two distinct user-input devices: a first device (foot pedal) dedicated to retroflection mode controlling a single arm joint, and a second device (hand controller) dedicated to surgical operation mode controlling multiple arm joints. This segmentation allows each device to be optimized for its specific function while reducing overall control complexity.
Solution Approach 2:
The system dynamically switches between two operating modes (retroflection mode and surgical operation mode) based on the surgical procedure needs. The control circuitry automatically transitions between modes, enabling the appropriate user-input device to become active and control the appropriate arm joints, providing adaptability without requiring permanent complex multi-device integration.
2Ease of operation
If multiple arm joints are controlled simultaneously, then freedom of movement during surgery is improved, but the risk of ergonomic discomfort and loss of control during retroflection increases
Solution Approach 1:
The control of arm joints is segmented by operating mode: during retroflection mode, only a single designated arm joint is controllable via the first user-input device, while other joints remain locked or uncontrollable. During surgical operation mode, multiple arm joints become controllable via the second user-input device. This segmentation ensures safety during retroflection while providing freedom of movement during surgery.
Solution Approach 2:
The control circuitry acts as an intermediary that mediates between the user-input devices and the arm joints. It receives signals from either the first or second user-input device and selectively activates control of appropriate arm joints based on the current operating mode, preventing unauthorized or unsafe joint movements during retroflection while enabling full control during surgery.
3Adaptability or versatility
If the second user-input device is enabled during retroflection, then freedom of movement is improved, but the risk of uncontrolled arm movement and surgical error increases
Solution Approach 1:
The system implements preliminary anti-action by disabling the second user-input device during retroflection mode before any surgical operation can begin. This preventive measure ensures that the surgeon cannot accidentally activate multiple arm joints during the vulnerable retroflection phase, eliminating the risk of uncontrolled movement and surgical error. The second device is only enabled after retroflection is complete and the system transitions to surgical operation mode.
Solution Approach 2:
The control circuitry continuously monitors the operating mode and provides feedback control by automatically enabling or disabling the second user-input device based on whether the system is in retroflection mode or surgical operation mode. This feedback mechanism ensures that the appropriate level of control freedom is always maintained, preventing harmful factors while preserving necessary flexibility.
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.