Surgical Robot Speed Modulation Near Workspace Boundaries

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Solution Overview

Problem

Existing surgical robotic systems abruptly stop or modify the trajectory of surgical instruments near workspace boundaries, leading to unexpected movements and potential collateral damage due to exaggerated counter-reactions from surgeons.

Innovation Solution

A system with a controller that adjusts the motion of surgical instruments and robotic arms by modifying their speed based on the distance to workspace boundaries and virtual fixtures, maintaining direction while adapting speed to prevent collisions and vibrations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the surgical instrument is abruptly stopped or trajectory is modified near workspace boundaries, then the instrument remains within the workspace boundary, but unexpected movements and vibrations occur due to exaggerated counter-reactions from the surgeon

Engineering Contradiction:

Improveworkspace boundary complianceVSAvoidunexpected movements and vibrations

Core Design Contradiction:

ReliabilityVSObject-generated harmful factors

Solution Approach 1:

The system performs preliminary action by gradually reducing the commanded speed of the surgical instrument as it approaches the workspace boundary, rather than abruptly stopping it. This preemptive speed reduction allows the surgeon to anticipate and adapt to the boundary constraint, preventing exaggerated counter-reactions and resulting vibrations while still ensuring the instrument remains within the workspace boundary

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system applies dynamics by continuously adjusting the commanded speed of the surgical instrument based on its real-time position relative to the workspace boundary. The controller dynamically modifies the speed profile, reducing speed progressively as the instrument nears the boundary and restoring normal speed when moving away, thereby maintaining boundary compliance while minimizing disruptive movements and vibrations

Inventive Principle:

Principle #15Dynamics

2Object-generated harmful factors

If the commanded speed of the surgical instrument is reduced near workspace boundaries, then vibrations and unexpected movements are minimized, but the productivity of the surgical procedure decreases

Engineering Contradiction:

Improvevibrations and unexpected movementsVSAvoidsurgical procedure efficiency

Core Design Contradiction:

Object-generated harmful factorsVSProductivity

Solution Approach 1:

The system applies local quality by implementing speed modification only in the local region near the workspace boundary, rather than reducing speed throughout the entire workspace. The controller calculates the distance to the boundary and applies speed reduction only when the instrument is within a threshold distance, allowing high-speed operation in safe zones while minimizing vibrations only where necessary near boundaries

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system uses dynamics to continuously adapt the commanded speed based on the instrument's real-time position and velocity relative to the workspace boundary. The speed reduction is applied dynamically and temporarily only when approaching the boundary, and normal speed is restored when moving away, thereby minimizing vibrations locally while maintaining overall surgical productivity

Inventive Principle:

Principle #15Dynamics

3Productivity

If the surgical instrument moves quickly near workspace boundaries, then the productivity of the procedure is maintained, but the risk of collateral damage increases due to exaggerated counter-reactions from the surgeon

Engineering Contradiction:

Improveprocedure speedVSAvoidcollateral damage risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary action by reducing the commanded speed before the instrument reaches the workspace boundary, giving the surgeon advance notice and time to adjust their control inputs. This prevents sudden stops that would cause exaggerated counter-reactions and potential collateral damage, while maintaining acceptable procedure speed in regions away from boundaries

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system implements feedback by continuously monitoring the position and velocity of the surgical instrument relative to the workspace boundary and using this information to dynamically adjust the commanded speed. The controller reduces speed when the instrument approaches the boundary and restores normal speed when moving away, thereby maintaining productivity while minimizing the risk of collateral damage from abrupt stops

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20250366934A1Surgical robotics systems and devices having modified speed control near workspace boundaries and surfaces, and methods thereof

Publication Date: 2025.12.04 DISTALMOTION

AI summary

The present disclosure relates to surgical robotic systems having a master console and slave manipulators, with components and features for adjusting movements of instruments near workspace boundaries. In some embodiments, a method of modulating movement of an articulated instrument arm and an instrument coupled thereto can include determining that the end effector is within a predefined zone adjacent to the boundary, and in response to determining that the end effector is within the predefined zone, controlling one or more actuators of an articulated instrument arm supporting the instrument to adjust a speed of the instrument.