Dependent Surgical Robotic Arm Control for Synchronized Motion
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Solution Overview
Problem
Current surgical robotic systems require frequent switching between independent surgical robotic arms, which can lead to workflow issues and depends heavily on the surgeon's skills, especially in multi-robotic arm tasks where synchronized motion is crucial.
Innovation Solution
Implementing a spatial geometric relationship between independent and dependent surgical robotic arms, allowing for automatic motion control of dependent arms based on the motion of independent arms, using input devices like handles or joysticks to define this relationship, thereby reducing the need for frequent control switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If each surgical robotic arm is operated independently, then each arm can be precisely controlled, but frequent control switching between arms is required which causes workflow issues
Solution Approach 1:
The patent merges the control of multiple surgical robotic arms by establishing a master-slave relationship where one arm (master) is controlled by the operator while other arms (slaves) automatically follow based on spatial geometric relationships. This combining of control functions eliminates frequent manual switching between arms while maintaining precise control through the master arm, directly resolving the contradiction between control precision and workflow efficiency
2Adaptability or versatility
If multiple surgical robotic arms are controlled independently, then each arm has full maneuverability, but the success of multi-robotic arm surgical tasks heavily depends on the surgeon's skills to frequently switch control
Solution Approach 1:
The patent implements dynamic control modes where surgical robotic arms can switch between independent operation and dependent following operation. The system dynamically adjusts the control relationship based on the surgical task requirements, allowing arms to maintain full maneuverability when needed while automatically coordinating during synchronized tasks, thereby reducing dependency on surgeon skill for manual switching while maintaining task reliability
3Manufacturing precision
If synchronized motion of surgical robotic arms is required for multi-robotic arm surgical tasks, then task accuracy is improved, but frequent control switching between arms is needed which reduces workflow efficiency
Solution Approach 1:
The patent establishes preliminary spatial geometric relationships and motion dependencies between surgical robotic arms before the surgical task begins. Once the master-slave relationships and geometric constraints are predefined, the system automatically maintains synchronized motion during the procedure without requiring real-time manual switching, thus achieving high surgical accuracy while eliminating time loss to control switching
Data Source
AI summary
A motion dependency surgical robotic system (100) employs an independent robotic arm (20) including a first surgical instrument, a dependent robotic arm (21) including a second surgical instrument, and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space. The spatial geometric relationship defines a procedural synchronization between the independent robotic arm (20) and the dependent robotic arm (21) in a synchronized execution of a surgical task by the surgical instruments.