Robotic Surgical Input Assembly With Repositioning Scaling Control
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Solution Overview
Problem
Robotic surgical systems face safety issues and inefficiencies due to the need for 'clutching' to decouple and reposition input handles, which can lead to collisions and compromised precision during minimally invasive procedures.
Innovation Solution
A method and system that utilize a repositioning scaling factor to allow for controlled, reduced movement of surgical tools relative to input device handles, enabling safe and precise repositioning without decoupling, using a ring or petal mechanism to switch between operating and repositioning scaling factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional clutching is used to decouple input handle from end effector during repositioning, then input device can be repositioned, but safety issues arise and precision is compromised due to stationary end effector being susceptible to collisions
Solution Approach 1:
The system changes the scaling factor parameter between two states: a first scaling factor during normal operation that provides precise control, and a second scaling factor during repositioning that allows greater input handle movement while maintaining end effector stability. This parameter change enables safe repositioning without traditional clutching by dynamically adjusting the motion transmission ratio.
2Ease of operation
If traditional clutching is used to decouple input handle from end effector, then input device can be repositioned, but precision is lost due to communicative decoupling
Solution Approach 1:
The system dynamically adjusts the scaling factor between a first value for precise control during surgery and a second value for repositioning. This allows the input handle to be repositioned with reduced precision requirements while the end effector remains precisely controlled through the modified scaling relationship, eliminating the need for complete decoupling.
3Ease of operation
If end effector remains stationary during input handle repositioning, then handle can be repositioned, but end effector is more susceptible to collisions with other moving body parts or instruments
Solution Approach 1:
By changing the scaling factor during repositioning, the system allows the end effector to move at a reduced scale relative to the input handle movement. This modified motion relationship reduces the end effector's susceptibility to collisions while still enabling successful repositioning of the input device, as the end effector responds to handle movements with diminished amplitude.
Data Source
AI summary
Methods and devices for controlling a robotic system includes receiving a signal in response to movement of an input device through an input distance, determining the position of a repositioning control disposed on the input device, and moving the tool of the robotic system in response to movement of the input device the input distance. The input device is coupled to an input shaft of an input arm. The robotic system moving the tool a first distance when the repositioning control is in a deactivated position and moves the tool a second distance when the repositioning control in an activated position. The first distance is greater than the second distance.