Surgical Robot Linkage Control for Collision-Free Redundant Motion

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Solution Overview

Problem

Current minimally invasive surgical robotic systems face challenges such as excessive movement outside the patient, collisions between robotic manipulators, and complex setup procedures, which hinder efficient and safe operation during surgeries.

Innovation Solution

The development of highly configurable surgical robotic manipulators with redundant degrees of freedom, enabled by processors that calculate and control joint movements to inhibit collisions and facilitate easier setup, allowing for a range of joint states and configurations to adapt to different surgical needs.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If robotic manipulators are used to perform minimally invasive surgery with intricate dexterity, then surgical precision and tissue damage reduction are improved, but the risk of collisions between manipulators outside the patient increases

Engineering Contradiction:

Improvesurgical precisionVSAvoidcollision risk

Core Design Contradiction:

Manufacturing precisionVSReliability

Solution Approach 1:

The system dynamically adjusts the configuration of robotic manipulators based on real-time surgical conditions. The processor continuously calculates optimal joint states to maintain dexterity inside the patient while preventing collisions outside, allowing the system to adapt its behavior dynamically during the procedure.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the operational parameters of the robotic manipulators by implementing constraints on joint movements. The processor modifies the range of motion and positioning parameters to ensure that while the end effectors can perform intricate surgical tasks, the manipulators themselves remain separated and avoid collisions.

Inventive Principle:

Principle #35Parameter changes

2Ease of operation

If robotic manipulators are configured for high dexterity inside the patient, then surgical task performance is improved, but the complexity of system setup and reconfiguration increases

Engineering Contradiction:

Improvesurgical task performanceVSAvoidsetup complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The robotic system performs self-configuration and self-optimization through automated processor calculations. The system automatically determines optimal joint states and manipulator configurations based on the surgical site requirements, eliminating the need for manual setup complexity while maintaining high dexterity for surgical tasks.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The processor pre-calculates and pre-configures the optimal joint states and manipulator positions before surgical operations begin. This preliminary configuration ensures that the system is ready for high-dexterity surgical tasks without requiring complex manual setup procedures during the actual surgery.

Inventive Principle:

Principle #10Preliminary action

3Adaptability or versatility

If manipulators are allowed to move freely for access to different tissues, then surgical versatility is improved, but the frequency of collisions and unsafe movements increases

Engineering Contradiction:

Improvesurgical versatilityVSAvoidcollision frequency

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The system implements continuous feedback monitoring of manipulator positions and joint states. The processor receives real-time data from sensors and continuously adjusts the manipulator configurations to maintain versatility for accessing different tissues while preventing collisions and unsafe movements through active feedback control.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system applies preliminary constraints and protective measures to prevent collisions before they occur. The processor calculates safe operational boundaries and pre-establishes collision avoidance protocols that allow manipulators to move freely for surgical versatility while inherently preventing harmful interactions.

Inventive Principle:

Principle #9Preliminary anti-action

4Adaptability or versatility

If the robotic system is designed with redundant degrees of freedom for flexibility, then adaptability to different surgical needs is improved, but the difficulty of controlling and coordinating joints increases

Engineering Contradiction:

ImproveflexibilityVSAvoidcontrol complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system replaces complex mechanical coordination mechanisms with intelligent software-based control. The processor uses algorithms to automatically coordinate the redundant degrees of freedom, substituting mechanical complexity with computational intelligence that simplifies the control interface while maintaining full flexibility for different surgical needs.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP3231386B1Software center and highly configurable robotic systems for surgery and other uses

Publication Date: 2021.03.17 INTUITIVE SURGICAL OPERATIONS INC

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AI summary

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.