Surgical Robot Controller Failover for Undocked Patient Repositioning
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Solution Overview
Problem
Existing robotically-assisted surgical systems require undocking and repositioning of robotic arms and patient carts during surgical procedures, which can be cumbersome and disrupt the surgical process.
Innovation Solution
A surgical robotic system with a primary controller and a secondary controller that can take over in case of communication failure, allowing seamless transition and continued operation without the need to reposition the robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single primary controller is used to control the surgical robot, then the control system is simple and easy to operate, but the system reliability decreases when communication failure occurs
Solution Approach 1:
A secondary controller is pre-configured with hibernated copies of the primary controller's processes before any failure occurs. When communication failure is detected, these pre-prepared processes are immediately activated, enabling seamless failover without requiring complex real-time decision-making or reconfiguration during the emergency situation.
Solution Approach 2:
The secondary controller maintains hibernated copies of the primary controller's processes, creating a redundant backup system. This copying approach allows the secondary controller to assume control by simply activating the existing process copies rather than generating new control logic, thereby improving reliability while minimizing the increase in system complexity.
2Adaptability or versatility
If robotic arms are undocked and repositioned during surgery, then patient repositioning can be achieved, but the surgical process is disrupted and time is lost
Solution Approach 1:
The secondary controller is prepared in advance with all necessary control processes and capabilities. When patient repositioning is needed, the system can switch to the secondary controller and execute repositioning maneuvers without requiring the time-consuming process of undocking and re-docking robotic arms, as the secondary controller is already fully configured to manage all robotic functions.
3Reliability
If the primary controller continuously monitors communication status, then failure detection is timely, but the control system complexity increases
Solution Approach 1:
A mediator component continuously monitors communication between the primary and secondary controllers by receiving heartbeat messages from the primary controller's supervisor process. This feedback mechanism provides timely failure detection through a dedicated communication channel, allowing the secondary controller to detect communication failures and activate backup processes without requiring the primary controller itself to implement complex monitoring logic.
Data Source
AI summary
A robotic surgical system and method are disclosed for transitioning control to a secondary robotic arm controller. In one embodiment, a robotic surgical system comprises a user console comprising a display device and a user input device; a robotic arm configured to be coupled to an operating table; a primary robotic arm controller configured to move the robotic arm in response to a signal received from the user input device at the user console; and a secondary robotic arm controller configured to move the robotic arm in response to a signal received from a user input device remote from the user console. Control over movement of the robotic arm is transitioned from the primary robotic arm controller to the secondary robotic arm controller in response to a failure in the primary robotic arm controller. Other embodiments are provided.