Surgical Robot Arm Control Using Instrument-Guided Motion Modes
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Solution Overview
Problem
Conventional surgery supporting robots for laparoscopic surgery require large consoles for operation, which can be difficult to install in operating rooms and limit the operational area, often necessitating the presence of multiple doctors and causing interference between robot arms and operators.
Innovation Solution
A surgery supporting apparatus that controls the posture of a robot arm using a second surgical instrument inserted into the body cavity, with a switching unit to change between motion modes, allowing either voice control or direct contact manipulation, eliminating the need for a console and optimizing the operational area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a console type surgery supporting robot is used to control multiple surgical instruments, then the functionality and control capability are improved, but the apparatus size increases and the operating room space is reduced
Solution Approach 1:
The patent extracts the console from the surgery supporting robot system, separating the control function from the robot arm. The robot arm can be controlled remotely via network communication or directly through simple manipulation units positioned near the patient, eliminating the need for a large console in the operating room while maintaining full control capability
Solution Approach 2:
The system is segmented into independent components: the robot arm unit, the manipulation units, and the control system. Multiple manipulation units can be positioned at different locations, allowing flexible control without requiring a single large console, thus reducing space requirements while maintaining adaptability
2Adaptability or versatility
If multiple robot arms are arranged around the patient to perform various surgical tasks, then the versatility of the surgery supporting apparatus is improved, but the device complexity and interference with operators increase
Solution Approach 1:
The patent employs a single robot arm that can perform multiple surgical tasks by attaching different surgical instruments to its end effector. The robot arm is designed with universal control capabilities that can handle various instrument types, eliminating the need for multiple specialized robot arms and reducing overall system complexity
3Ease of operation
If a voice manipulation system is used to control the robot arm, then the ease of operation is improved, but the precision and reliability of complex surgical instrument control deteriorate
Solution Approach 1:
The patent introduces manipulation units as intermediary devices between the operator and the robot arm. These units provide tactile feedback and precise mechanical control, serving as a mediator that combines the ease of simple manipulation with the reliability of precise control, avoiding the limitations of direct voice control for complex surgical tasks
Data Source
AI summary
A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.