Robotic Surgical Master Tool Control Modes
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Solution Overview
Problem
Robotic surgical systems face challenges in providing true force feedback to surgeons and limiting control to only two surgical instruments, making it difficult for surgeons and medical personnel to synchronize activities during procedures.
Innovation Solution
A surgical system with a master tool and slave tools that allow for electronic communication, enabling the master tool to control both slave tools in different modes: one for positional movement and another for adjusting force output, allowing for flexible control of multiple surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic systems control multiple surgical instruments, then the ability to perform complex surgical procedures is improved, but the complexity of the control system increases
Solution Approach 1:
The master tool is designed with multi-functionality to control multiple slave tools through different operational modes. The system allows a single master tool to perform both direct motion control and force control functions, enabling one device to replace what would traditionally require multiple specialized control interfaces.
Solution Approach 2:
The control system dynamically switches between different operational modes (direct control mode and force control mode) based on the surgical needs. This allows the master tool to adapt its control characteristics in real-time, providing intuitive motion control when needed and force regulation when needed, without requiring separate static control systems for each function.
2Measurement precision
If robotic systems provide force feedback to surgeons, then surgical precision is improved, but the cost and technical difficulty increase significantly
Solution Approach 1:
The system uses an intermediary approach by controlling the slave tool's output (such as gripper force or instrument engagement) rather than providing direct force feedback to the surgeon's hand. The master tool remains passive, while the controller mediates between surgeon input and slave tool output, regulating force through the surgical instrument itself rather than through haptic feedback.
Solution Approach 2:
The system replaces complex mechanical force feedback mechanisms with an electronic control architecture. Instead of using mechanical springs, levers, or haptic actuators to provide force feedback, the system uses electronic sensors and controllers to monitor and regulate slave tool output, substituting mechanical complexity with electronic control.
3Ease of operation
If traditional robotic systems control only two surgical instruments, then the control system remains simple, but it becomes difficult for surgeons and medical personnel to synchronize activities
Solution Approach 1:
The system merges the control of multiple slave tools under a single master tool interface. By consolidating control functions, the system eliminates the need for separate control interfaces for each instrument, allowing the surgical team to synchronize activities through one unified control system while maintaining the ability to operate multiple instruments simultaneously.
Data Source
AI summary
Various exemplary methods, systems, and devices for control of surgical tools in a robotic surgical system are provided. In general, a robotic surgical system can be configured to control a surgical instrument in one of first and second modes of operation. In the first mode, the robotic surgical system can be configured to receive an input from a master tool indicating movement of the master tool. In response to the input, the robotic surgical system can be configured to cause the instrument to corresponding move. In the second mode, the robotic surgical system can be configured to receive an input from the master tool indicating movement of the master tool, and, in response to the input, adjust a non-positional output characteristic of the instrument. The robotic surgical system can be configured to switch control of the instrument between the first and second modes.