Surgical Manipulator Pose Control via Virtual Rigid Body Modeling
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Solution Overview
Problem
Current robotic surgical systems face challenges in seamlessly switching between semi-autonomous and manual modes during procedures, limiting the surgeon's ability to adapt to changing conditions, such as unexpected tissue movement or instrument collisions, which can lead to inaccuracies or injuries.
Innovation Solution
A surgical manipulator that models the surgical instrument as a virtual rigid body, monitoring forces and torques applied externally and determining a commanded pose to control the instrument's movement, allowing for real-time adjustments between manual and semi-autonomous modes to prevent instrument collisions and ensure precise tissue targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robotic system operates in semi-autonomous mode with preprogrammed paths, then positioning precision is improved, but adaptability to unexpected conditions deteriorates
Solution Approach 1:
The system implements dynamic mode switching between semi-autonomous and manual control modes. The control system can transition from executing preprogrammed paths to real-time practitioner control based on surgical conditions, allowing the robotic arm to adapt its control characteristics dynamically during the procedure
Solution Approach 2:
The system changes the control parameter state by switching between different operational modes. In semi-autonomous mode, the system operates with automated path execution parameters, while in manual mode, it transitions to real-time control parameters responsive to practitioner input, effectively changing the system's operational characteristics
2Adaptability or versatility
If the robotic system operates in manual mode with practitioner control, then adaptability to changing conditions is improved, but positioning precision deteriorates
Solution Approach 1:
The control system acts as an intermediary between the practitioner's manual control inputs and the robotic arm execution. It receives control signals from the practitioner and translates them into precise robotic movements, bridging the gap between human intent and robotic precision in manual mode
3Adaptability or versatility
If mode switching capability is added to the robotic system, then adaptability is improved, but device complexity deteriorates
Solution Approach 1:
The control system is designed with multi-functionality to handle both semi-autonomous and manual operational modes within a single unified architecture. This universal control system can execute preprogrammed paths and also respond to real-time practitioner inputs, eliminating the need for separate control systems for each mode
Data Source
AI summary
A surgical manipulator is disclosed which includes a surgical instrument, an arm comprising a plurality of links and being configured to support and move the surgical instrument, and at least one controller. The at least one controller is configured to model the surgical instrument as a virtual rigid body. Forces and torques are applied externally to the surgical instrument. The at least one controller determines a commanded pose of the surgical instrument based on evaluation of the forces and torques and controls movement of the arm to place the surgical instrument according to the commanded pose.