Surgical Instrument Control System for Smooth Reengagement
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Solution Overview
Problem
Current surgical robotic systems experience jerky movements and potential object dropping when reengaging control of the end effector after disengagement, due to sudden reconnection, which can be hazardous and disrupt surgical procedures.
Innovation Solution
A control system that gradually reengages operative control of the surgical instrument by matching the configuration of the surgeon input device with the end effector, using actuator-driven adjustments and haptic feedback to ensure smooth reconnection and maintain control stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If control of the end effector is suddenly reengaged after disengagement, then control stability is improved, but jerky movements and object dropping occur
Solution Approach 1:
The control system performs preliminary actions by gradually reengaging control of the end effector before full control is restored. The system initially engages control of the robot arm and coupling while maintaining disengagement of the end effector, then subsequently engages end effector control after detecting manipulation of the surgeon input device. This staged preliminary engagement prevents sudden jerky movements and object dropping.
Solution Approach 2:
The control system dynamically adjusts the reengagement process based on real-time detection of surgeon input device manipulation. Control transition is not static but adapts to the surgeon's actions, gradually transferring control from the robot arm to the end effector only when manipulation is detected, thereby preventing harmful jerky movements while maintaining control stability.
2Speed
If control of the robot arm and end effector is simultaneously reengaged, then control responsiveness is improved, but sudden movements and loss of precision occur
Solution Approach 1:
The control reengagement process is segmented into distinct phases: first engaging control of the robot arm and coupling, then separately engaging control of the end effector only after detecting surgeon input device manipulation. This segmentation prevents simultaneous sudden reengagement, maintaining both responsiveness and precision by controlling the timing and sequence of control transfer.
Solution Approach 2:
The system performs preliminary engagement of robot arm control before end effector control. This staged approach allows the robot arm to be controlled responsively while the end effector remains disengaged initially, preventing sudden movements and loss of surgical precision that would occur with simultaneous reengagement.
3Productivity
If the surgeon input device is immediately reconnected to the end effector, then operational efficiency is improved, but haptic feedback stability and control precision deteriorate
Solution Approach 1:
The system performs preliminary engagement of the robot arm and coupling control while maintaining end effector disengagement. This allows the surgeon to efficiently control instrument positioning without immediately reconnecting end effector control, which would cause haptic feedback instability. The end effector control is subsequently engaged only when manipulation is detected, maintaining both efficiency and haptic stability.
Solution Approach 2:
The control system uses feedback from detecting surgeon input device manipulation to determine when to engage end effector control. This feedback mechanism ensures that haptic feedback stability is maintained by only reengaging end effector control when the surgeon is actively manipulating the input device, preventing instability while preserving operational efficiency.
Data Source
AI summary
A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.