Surgical Robot Instrument Motion Control With a Dynamic Virtual Bound
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Solution Overview
Problem
The longitudinal movement of a surgical instrument towards a surgical target in surgical robotic systems may pose a risk of accidental puncture if not adequately controlled.
Innovation Solution
A surgical robotic system with a movable arm part and a processor that determines a virtual bound based on positioning commands from a human operator, controlling the actuator to manage the longitudinal movement of the surgical instrument, ensuring safe and accurate control near the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the surgical instrument is allowed to move freely towards the surgical target, then the productivity and speed of the surgical procedure is improved, but the risk of accidental puncture and harmful effects increases
Solution Approach 1:
The patent introduces a virtual bound as an intermediary control mechanism between the human operator and the surgical instrument. This virtual bound acts as a mediator that automatically manages the longitudinal movement of the surgical instrument towards the surgical target, allowing fast movement when safe and preventing accidental puncture when at risk, thus resolving the contradiction between productivity and safety
Solution Approach 2:
The system continuously monitors the position of the surgical instrument relative to the virtual bound and adjusts the actuator control in real-time based on this feedback. The processor determines whether the instrument is approaching the virtual bound and modifies the positioning commands accordingly, enabling dynamic control that balances speed and safety
2Reliability
If a virtual bound is implemented to control longitudinal movement, then the safety and reliability is improved, but the device complexity increases
Solution Approach 1:
The patent creates a virtual copy or representation of the safety boundary (virtual bound) in the control system rather than using physical sensors or mechanical stops. This virtual bound is a software-based construct that simplifies the control architecture while maintaining high reliability, as it can be dynamically adjusted without physical modifications
Solution Approach 2:
The virtual bound control mechanism serves multiple functions simultaneously: it acts as a safety barrier, a speed regulator, and a positioning aid. This multi-functionality reduces the need for separate control mechanisms, thereby limiting the increase in device complexity while achieving improved reliability
3Adaptability or versatility
If the processor determines virtual bound dynamically during use, then the adaptability is improved, but the loss of time for calculation and processing increases
Solution Approach 1:
The system performs preliminary calculations and preparations for virtual bound determination before they are critically needed during surgical operations. By pre-processing certain control parameters and maintaining ready-state computational frameworks, the system minimizes real-time processing delays while preserving dynamic adaptability to changing surgical conditions
Data Source
AI summary
Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.