Surgical Robot Linkage Control for Pivoting and Collision Avoidance
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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 surgical operations.
Innovation Solution
The development of highly configurable surgical robotic manipulators with redundant degrees of freedom (RDOF) and software centering capabilities, allowing for precise movement control and collision avoidance, facilitated by processors that calculate optimal joint movements and adjust to patient movement and tissue constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic manipulators are used to provide dexterous movement within surgical sites, then surgical precision and dexterity are improved, but the risk of collisions between manipulators outside the patient increases
Solution Approach 1:
The system dynamically adjusts the configuration of robotic manipulators in real-time based on their positions and planned trajectories. The controller continuously optimizes manipulator poses to maintain safe distances while achieving desired surgical movements, preventing collisions without compromising surgical precision
Solution Approach 2:
The collision avoidance system uses feedback from manipulator positions and planned motions to adjust configurations proactively. By monitoring the state of all manipulators and predicting potential collisions, the system modifies manipulator poses in advance to prevent harmful interactions while maintaining surgical effectiveness
2Adaptability or versatility
If robotic manipulators are configured for complex surgical tasks, then surgical capability is improved, but the complexity of setup and reconfiguration increases
Solution Approach 1:
The system performs preliminary configuration of manipulators based on pre-planned surgical trajectories and tissue targets. By calculating optimal manipulator configurations in advance and preparing the system before surgery begins, the complex setup process is streamlined and can be completed more efficiently
Solution Approach 2:
The robotic system is designed with universal manipulators that can perform multiple surgical functions through software configuration rather than requiring separate specialized hardware for each task. This multi-functionality reduces overall system complexity while maintaining versatile surgical capability
3Adaptability or versatility
If manipulators are made highly configurable to access different tissues, then surgical versatility is improved, but the time required for reconfiguration increases
Solution Approach 1:
The system dynamically reconfigures manipulators in real-time during surgery based on the current surgical phase and target tissue. By continuously adapting manipulator configurations rather than requiring static pre-setup, the system enables rapid transitions between different surgical tasks without significant reconfiguration time
Solution Approach 2:
The system replaces physical reconfiguration of manipulators with software-based control reconfiguration. By using programmable control systems rather than mechanical adjustments, the system can switch between different surgical configurations instantly through software commands, eliminating the time required for physical re setup
Data Source
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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.