Surgical Instrument Posture Control Through Unified Coordinates
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical instruments face challenges in accurately controlling their posture due to differences between the coordinate systems used by the manipulation part and the end tool, leading to intuitive control issues for users.
Innovation Solution
A method and device that generate control values based on user input to change the posture of surgical instruments, considering the transformation between the coordinate systems of the manipulation part and the end tool, ensuring a one-to-one correspondence between intended and actual posture changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the surgical instrument uses separate coordinate systems for the manipulation part and the end tool, then the instrument can maintain independent control flexibility, but the user experiences intuitive control issues and difficulty in accurately controlling the posture
Solution Approach 1:
The patent merges the manipulation part coordinate system and the end tool coordinate system into a unified coordinate system. This allows the control values generated by the manipulation part to directly correspond to the posture changes of the end tool without requiring complex transformation calculations, thereby improving intuitive control while maintaining system flexibility.
Solution Approach 2:
The patent introduces a unified coordinate system as an intermediary that bridges the manipulation part and the end tool. This intermediary coordinate system enables direct mapping between user input and instrument response, eliminating the need for real-time coordinate transformations and improving control accuracy.
2Measurement precision
If the surgical instrument implements posture control through coordinate transformation, then it can adapt to different manipulation scenarios, but the control accuracy decreases due to the mismatch between intended and actual posture changes
Solution Approach 1:
By merging the coordinate systems of the manipulation part and end tool into a unified system, the patent ensures that control values directly reflect the intended posture changes. This eliminates cumulative transformation errors and improves measurement precision while maintaining adaptability through the unified framework.
Solution Approach 2:
The patent implements a feedback mechanism where the actual posture of the end tool is continuously monitored and compared with the intended posture derived from manipulation part input. This feedback loop allows for real-time correction and ensures high control accuracy across different manipulation scenarios.
3Speed
If the surgical instrument uses complex coordinate transformation algorithms, then it can handle various manipulation scenarios, but the processing time increases and real-time control becomes difficult
Solution Approach 1:
The patent combines the coordinate systems to eliminate the need for complex real-time transformation algorithms. This reduces computational complexity and processing time, enabling fast real-time control response while still handling various manipulation scenarios through the unified coordinate framework.
Solution Approach 2:
The patent extracts and removes the complex coordinate transformation step from the control algorithm. By taking out this computationally intensive operation, the system achieves faster processing speeds and real-time control capability while maintaining versatility through the simplified unified coordinate system.
Data Source
AI summary
According to a surgical instrument and a method and device for controlling the posture thereof, a manipulation value according to user input to change a posture of an end tool included in the surgical instrument may be obtained, first posture information about a current posture of the end tool at the time of obtaining the user input may be obtained, and a motion of the end tool based on the manipulation value and the first posture information may be controlled so that a target posture according to the user input is implemented.