Teleoperated Surgical Input Mapping for Dynamic Auxiliary Function Assignment
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Solution Overview
Problem
Existing robotic surgical systems face challenges in dynamically and intuitively assigning control over auxiliary functions to auxiliary input devices based on the type of surgical instruments being used, leading to conflicts and inefficiencies when multiple instruments with the same auxiliary functions are used simultaneously.
Innovation Solution
The system detects which hand of the user is operating the input device and automatically assigns auxiliary functions to corresponding input devices based on their relative positions, allowing for dynamic reconfiguration of auxiliary function control without pre-assigned static mappings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If auxiliary functions are pre-assigned to individual auxiliary input devices, then the system has simple and stable control mapping, but the system lacks flexibility when multiple instruments with the same auxiliary functions are used simultaneously
Solution Approach 1:
The patent implements dynamic assignment of auxiliary functions to auxiliary input devices based on the currently active surgical instrument. The system automatically reconfigures the mapping between auxiliary input devices and auxiliary functions according to which master input device is currently controlling an instrument, thereby providing flexibility without requiring complex manual reconfiguration.
Solution Approach 2:
The system performs automatic self-configuration by detecting which master input device is currently in use and autonomously assigning the appropriate auxiliary functions to the corresponding auxiliary input devices. This eliminates the need for manual intervention or complex user setup procedures.
2Ease of operation
If static pre-assignment of auxiliary functions is used, then the system is simple to operate, but conflicts occur when multiple instruments with the same auxiliary functions are used simultaneously
Solution Approach 1:
The system continuously monitors which master input device is currently controlling a surgical instrument and uses this feedback information to dynamically adjust the assignment of auxiliary functions. This ensures that the auxiliary input devices are always correctly mapped to the currently active instrument, preventing conflicts during multi-instrument operations.
3Productivity
If manual assignment of auxiliary functions is required, then the system has precise control over function mapping, but it consumes valuable surgical time and reduces productivity
Solution Approach 1:
The system pre-configures multiple auxiliary input devices with potential auxiliary functions before surgery begins. When a surgical instrument becomes active, the system automatically selects and activates the appropriate auxiliary function from the pre-configured options, eliminating the need for time-consuming manual configuration during the surgical procedure.
Data Source
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AI summary
A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.