Surgical Instrument Control System for Automatic Joint Alignment
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Solution Overview
Problem
Surgical robots often require surgeons to manually unroll joints to change the configuration of surgical instruments, which can be time-consuming and tiring, especially during procedures like suturing, and may not provide clear feedback when the joint is fully unrolled.
Innovation Solution
A control system that receives commands to straighten surgical instruments and applies driving forces to joints of the articulated coupling and robot arm to align the end effector with the shaft profile, allowing for automatic adjustment to a predetermined configuration, reducing the need for manual unrolling and enhancing surgeon comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the surgeon manually unrolls the roll joint repeatedly during suturing, then the instrument can continue to be used, but the surgeon experiences wrist fatigue and time is lost
Solution Approach 1:
The system performs preliminary detection of joint limits and automatically executes the unrolling motion before the surgeon needs to manually intervene. The control system continuously monitors roll joint position and proactively unrolls the instrument when approaching a limit, eliminating the need for repeated manual unrolling operations during suturing
Solution Approach 2:
The control system implements feedback by continuously monitoring the roll joint position through sensors and providing real-time information to the surgeon via display. When the roll joint approaches a limit, the system provides visual feedback indicating the need for unrolling, and can automatically execute the unrolling while providing confirmation feedback to the surgeon
2Ease of operation
If the surgeon manually unrolls the roll joint, then the instrument configuration changes, but it is not apparent when the roll joint is fully unrolled
Solution Approach 1:
The control system provides real-time visual feedback on the roll joint position through the display, showing the surgeon when the joint is approaching limits and when it has been fully unrolled. This feedback mechanism eliminates the uncertainty about joint position that exists during manual unrolling operations
Solution Approach 2:
The display uses color-coded indicators to show the roll joint status: green when the joint is within the operational range, yellow when approaching the limit, and red when fully unrolled or at a limit. This visual color feedback makes it immediately apparent to the surgeon when the roll joint has been fully unrolled
3Manufacturing precision
If the articulated coupling joints are manually adjusted, then the end effector alignment is achieved, but the process requires significant surgeon effort and time
Solution Approach 1:
The control system calculates the required joint adjustments in advance based on the desired end effector orientation and automatically executes the movements. Before the surgeon needs to manually adjust the articulated coupling, the system has already determined the optimal joint positions and can automatically move the end effector to the correct alignment
Solution Approach 2:
The system performs self-adjustment of the articulated coupling joints based on commands from the surgeon input device. The control system autonomously calculates the required joint movements and executes them without requiring the surgeon to manually manipulate each joint, allowing the instrument to service itself
Data Source
AI summary
A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device at a remote surgeon's console, the surgical instrument being supported by a surgical robot arm, the surgical instrument comprising an end effector connected to a distal end of a shaft by an articulated coupling, the articulated coupling comprising one or more joints enabling the end effector to adopt a range of attitudes relative to the distal end of the shaft, the control system configured to: receive a command from an input actuated by a user to straighten the surgical instrument; and in response to the received command, to command driving forces to be applied to joint(s) of the articulated coupling to drive the instrument to adopt a predetermined configuration in which the profile of the end effector is most closely aligned with the profile of the distal end of the shaft.