Robotic Surgical Input Handle Orientation Control
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Solution Overview
Problem
Existing robotic surgical systems require significant time and disrupt surgical procedures when repositioning elements, such as an endoscopic camera, as it breaks the correspondence between the orientation of the hand input device and the surgical end effector, necessitating manual adjustment to restore alignment.
Innovation Solution
A robotic surgical system with a master controller and input handle that includes a control system with two modes: the first mode allows movement of the surgical end effector based on input handle position and orientation, while the second mode enables repositioning of the input handle or endoscopic camera, automatically orienting the input handle to match the surgical end effector's orientation from the camera's viewpoint during repositioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the system allows repositioning of elements (camera, end effector, input handle), then the adaptability of the surgical system is improved, but the time required for mode switching increases and surgical procedure is disrupted
Solution Approach 1:
The control system automatically performs preliminary orientation adjustment of the input handle when transitioning from first mode to second mode. The servo mechanism pre-positions the input handle based on the new camera viewpoint before the surgeon completes the repositioning action, so that when returning to first mode, the correspondence is already restored without requiring manual adjustment time.
2Ease of operation
If the system maintains substantial correspondence between input handle orientation and end effector orientation, then the ease of operation is improved, but the device complexity increases due to servo mechanisms and mode switching
Solution Approach 1:
The control system continuously monitors the camera viewpoint and end effector position, and automatically provides feedback to the servo mechanism that adjusts the input handle orientation. This closed-loop feedback ensures correspondence is maintained without requiring complex manual coordination from the surgeon, as the system self-corrects based on real-time spatial relationships.
3Manufacturing precision
If manual adjustment of input handle orientation is required after repositioning, then the manufacturing precision of the system is maintained, but the productivity of the surgical procedure decreases
Solution Approach 1:
The system performs self-service by automatically restoring the correspondence between input handle orientation and end effector orientation through the servo mechanism when transitioning between modes. This eliminates the need for manual adjustment by the surgeon, maintaining precise orientation alignment while preventing disruption to the surgical workflow and preserving procedural efficiency.
Data Source
AI summary
A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.