Surgical Robot Teleoperation Mode Switching to Prevent Unintended Motion
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Solution Overview
Problem
Surgical robotic systems lack a simple and safe method for engaging and disengaging teleoperation mode, which can lead to unintentional tool movements and increased complexity for users.
Innovation Solution
A surgical robotic system that detects intentional user actions through a sequence of gestures or device positions to automatically engage or disengage the teleoperation mode, using a combination of handheld and foot pedals, with processors determining the appropriate mode transitions and providing user feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional safety requirements are implemented to prevent unintentional operations, then system safety is improved, but the complexity of engaging and disengaging teleoperation mode increases and becomes difficult for users to remember and follow
Solution Approach 1:
The engagement and disengagement procedures are segmented into distinct, separate sequences of actions. Engagement requires a first sequence (e.g., pressing foot pedal then handheld device), while disengagement requires a different second sequence (e.g., pressing handheld device then foot pedal). This segmentation allows complex safety requirements to be broken down into manageable, memorable steps that are less prone to user error.
Solution Approach 2:
The system performs preliminary validation of user intent by requiring a sequence of actions before allowing mode transition. The processor detects whether the detected actions match the predefined engagement sequence or disengagement sequence, ensuring that the user's intention is clearly established before changing the operational mode. This preliminary action prevents accidental mode changes while maintaining a relatively simple user interface.
2Object-affected harmful factors
If the system requires multiple safety checks and complex procedures to prevent unintentional tool movement, then unintentional operations are reduced, but the ease of operation decreases and users find it difficult to remember and follow the procedures
Solution Approach 1:
The system dynamically adjusts its response based on the sequence of detected actions. When the processor detects actions matching the engagement sequence, it transitions to teleoperation mode; when it detects the disengagement sequence, it transitions out of teleoperation mode. This dynamic response allows the system to maintain safety through sequence verification while keeping the actual user interactions simple and intuitive.
Solution Approach 2:
The system provides feedback to the user about the current operational mode and the sequence of actions required for engagement or disengagement. The processor continuously monitors user inputs and can indicate through the user interface whether the detected actions are being recognized as valid engagement or disengagement commands, helping users remember and correctly follow the procedures.
Data Source
AI summary
A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.