Surgical Robot Alignment via Direct Force Control

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Solution Overview

Problem

Existing technologies face challenges in accurately aligning the insertion point of a surgical tool with the remote center of motion during minimally invasive surgery, particularly in ophthalmology, due to difficulties in precisely moving and stopping the tool without causing tissue damage or vibration.

Innovation Solution

A robot device comprising a first robot with a base portion and a distal end portion, and a second robot supported by the distal end portion, where the first robot is operated by a user applying direct force, facilitating alignment of the surgical tool with the remote center of motion.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If automated control is used to move the surgical tool, then positioning precision is improved, but ease of operation deteriorates

Engineering Contradiction:

Improvepositioning precisionVSAvoidease of operation

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

A support device acts as an intermediary between the user and the first robot. The support device detects the user's intended movement through direct force application to the first robot and generates appropriate control commands, translating manual input into precise automated positioning while maintaining ease of operation

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces direct mechanical control with a sensor-based detection system. Force sensors detect the user's applied forces on the first robot, and this information is processed to generate control commands, substituting mechanical linkages with electronic sensing and control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If direct user operation is allowed on the first robot, then ease of operation is improved, but measurement precision deteriorates

Engineering Contradiction:

Improveease of operationVSAvoidalignment precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The support device provides real-time feedback by detecting the positional deviation between the insertion point and remote center of motion, and uses this information to generate corrective control commands for the first robot, enabling the user to achieve precise alignment through intuitive manual operation

Inventive Principle:

Principle #23Feedback

3Productivity

If the surgical tool is moved rapidly to reach the target position, then productivity is improved, but object-affected harmful factors worsen

Engineering Contradiction:

Improvesurgical efficiencyVSAvoidtissue damage risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The control system dynamically adjusts the movement characteristics of the first robot based on real-time feedback. The support device generates control commands that enable rapid positioning when appropriate while automatically reducing speed near the target position to prevent tissue damage, optimizing both efficiency and safety

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20250041006A1Robot device and robot system

Publication Date: 2025.02.06 SONY GROUP CORP

AI summary

A robot device (2) includes a first robot (R1) including a base portion (4) and a distal end portion (5) and a second robot (R2) supported by the distal end portion (5) of the first robot (R1), the second robot (R2) supporting a surgical tool (T) to be inserted into the body of a patient, in which the first robot (R1) is operated by a user (U) by directly applying a force to the first robot (R1).