Surgical Manipulator Controller for Automated Sterile Draping
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Solution Overview
Problem
Manual draping of surgical systems is time-consuming and prone to contamination or damage, as it requires manual handling and positioning of sterile drapes over complex surgical instrument manipulator assemblies, which can be cumbersome and risk damaging the drapes.
Innovation Solution
A computer-assisted teleoperated surgical system with a controller that automatically moves parts of the system to facilitate draping by detecting position changes or user inputs, allowing for automated alignment and mounting of sterile surgical drapes over surgical instrument manipulator assemblies, reducing manual intervention and minimizing risk of contamination or damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual draping of surgical manipulator assemblies is performed, then flexibility and adaptability to complex geometries are maintained, but time consumption increases and risk of contamination or damage occurs
Solution Approach 1:
The system uses the surgical manipulator assembly's own motion capabilities to facilitate its own draping process. The controller automatically moves the manipulator assembly into positions that facilitate drape application, allowing the system to service itself during the draping process, thereby reducing manual intervention and contamination risk
Solution Approach 2:
The controller pre-positions the surgical manipulator assembly by automatically moving it to specific positions and orientations before drape application. This preliminary positioning action prepares the manipulator assembly in advance, making the subsequent draping process faster and more reliable
2Ease of operation
If manual handling of sterile drapes over complex manipulator assemblies is performed, then precise positioning is achieved, but risk of drape damage or contamination increases
Solution Approach 1:
The system replaces manual mechanical handling with an automated control system that uses the manipulator assembly's own actuation mechanisms. The controller electronically controls the motion of manipulator components to facilitate drape application, eliminating the need for manual manipulation of sterile drapes over complex geometries
Solution Approach 2:
The controller acts as an intermediary between the user's intent and the manipulator assembly's motion. It translates high-level commands into automatic motion sequences that position the manipulator assembly optimally for drape application, reducing direct human contact with sterile components
3Loss of time
If automated movement of manipulator components is implemented, then draping time is reduced, but system complexity increases
Solution Approach 1:
The existing controller of the surgical robot system is extended to perform dual functions: maintaining its primary role in surgical control while adding automated draping capabilities. This multi-functionality approach avoids adding separate dedicated draping hardware, thereby limiting the increase in overall system complexity
Data Source
AI summary
Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.