Surgical Robot RCM Control Using Force Feedback and Workspace Alignment
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Solution Overview
Problem
Existing robotic manipulators in minimally invasive surgery face challenges in efficiently aligning their workspace with the target anatomy, requiring manual and time-consuming reconfiguration to avoid patient trauma, especially when the target anatomy is redefined during operations.
Innovation Solution
A method for remote center of motion (RCM) control that dynamically adjusts the configuration of the robotic manipulator based on force measurements at the RCM, optimizing workspace alignment with the target anatomy and minimizing force exertion on the patient by using sensors on the cannula or adaptor, and adjusting the RCM to maintain alignment and reduce patient stress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual reconfiguration of robotic manipulator joints is performed to align workspace with target anatomy, then workspace alignment is achieved, but significant time and physical effort are required
Solution Approach 1:
The robotic manipulator performs self-reconfiguration by automatically detecting target anatomy position and computing optimal joint configurations without manual intervention. The system uses sensors to detect anatomy position, a processor to compute workspace configurations, and actuators to automatically adjust joints, enabling the system to service itself during surgery.
Solution Approach 2:
The patent replaces manual mechanical adjustment with an automated control system that uses sensors, processors, and actuators. Instead of manual visualization and physical adjustment of multiple joints, the system uses computational algorithms to determine optimal configurations and automatically executes the reconfiguration through actuated joints.
2Adaptability or versatility
If multiple joints of robotic manipulator are moved to reconfigure workspace, then workspace alignment with target anatomy is improved, but physical effort and complexity increase
Solution Approach 1:
The system continuously monitors the position of target anatomy using sensors and feeds this information back to the control processor. The processor computes the current workspace configuration, compares it with the desired alignment, and automatically adjusts joint positions to achieve optimal alignment. This closed-loop feedback system simplifies the complex task of multi-joint coordination.
Solution Approach 2:
The system dynamically changes the configuration parameters of the robotic manipulator by computing optimal joint angles and positions based on real-time anatomy position data. The processor adjusts multiple joint parameters simultaneously to transform the workspace orientation and position, achieving alignment without manual intervention in each degree of freedom.
3Productivity
If robotic manipulator is docked to cannula during surgery, then surgical access is established, but RCM may not be in optimal configuration for target anatomy
Solution Approach 1:
The system performs preliminary detection of target anatomy position and computes the optimal workspace configuration before surgical operations begin. After docking the manipulator to the cannula, the system automatically reconfigures the joints to achieve optimal alignment with the target anatomy, ensuring the manipulator is ready for immediate surgical action without manual repositioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables quick and efficient reconfiguration of the robotic manipulator to maximize workspace overlap with the target anatomy, reducing patient trauma and intraoperative time by dynamically adapting to changes in patient position and instrument motion.
Implementation Method 1
The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula.
Data Source
AI summary
For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.