Surgical Robot Linkage Control for Collision-Free Pivoting
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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 surgical procedures.
Innovation Solution
The development of highly configurable surgical robotic manipulators with redundant degrees of freedom, allowing for a range of joint states and configurations, and a processor-driven system that calculates optimal motion paths to prevent collisions and adapt to patient movement, facilitating easier setup and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic manipulators are used to provide dexterity in minimally invasive surgery, then surgical precision is improved, but collisions between manipulators occur due to excessive movement outside the patient
Solution Approach 1:
The system dynamically adjusts the virtual aperture position and manipulator configurations in real-time to adapt to tissue movement and prevent collisions. The processor continuously calculates optimal manipulator positions that maintain surgical precision while avoiding harmful interactions between manipulators.
Solution Approach 2:
A software centering mechanism acts as an intermediary between the physical manipulators and the surgical site. This virtual aperture serves as a mediator that coordinates manipulator movements, ensuring they converge on the correct target while preventing excessive movement and collisions outside the patient's body.
2Adaptability or versatility
If robotic manipulators with multiple degrees of freedom are used to access different tissues, then surgical versatility is improved, but setup complexity increases
Solution Approach 1:
The system employs multiple robotic manipulators with redundant degrees of freedom that can perform multiple functions. Each manipulator can access different tissue sites and perform various surgical tasks, providing versatility while the software centering mechanism simplifies the overall setup by coordinating their movements through a unified control framework.
Solution Approach 2:
The system changes operational parameters dynamically by adjusting the virtual aperture position and manipulator configurations based on surgical requirements. This allows the system to adapt to different surgical scenarios and tissue locations without requiring complex physical reconfiguration, thereby reducing setup complexity while maintaining versatility.
3Adaptability or versatility
If manipulators are configured to allow extensive movement for accessing different tissues, then surgical adaptability is improved, but collision risk increases
Solution Approach 1:
The system uses dynamic calculation of manipulator positions and virtual aperture placement to adapt to different surgical needs while continuously monitoring and adjusting movements to prevent collisions. The processor real-time optimization ensures manipulators can access different tissues without excessive movement that would cause collisions.
Solution Approach 2:
The system incorporates feedback mechanisms where the processor continuously monitors manipulator positions and adjusts the virtual aperture location and manipulator configurations accordingly. This feedback loop enables the system to maintain surgical adaptability while preventing collision risk by making real-time adjustments based on the current state of the manipulators and surgical site.
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.