Surgical Robot Virtual Bound Control for Instrument Insertion
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Solution Overview
Problem
The longitudinal movement of a surgical instrument towards a surgical target in surgical robotic systems can be insufficiently controlled, posing a risk of accidental puncture or damage to surrounding tissues.
Innovation Solution
A surgical robotic system with a surgical arm that includes a movable arm part with an instrument connector for mounting surgical instruments, a human machine interface for receiving positioning commands, an actuator for effecting longitudinal movement, and a processor that controls the actuator based on positioning commands and a virtual bound to enhance control precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the surgical instrument is allowed to move freely towards the surgical target, then the surgical procedure can be performed efficiently, but the risk of accidental puncture or damage to surrounding tissues increases
Solution Approach 1:
A virtual bound is introduced as an intermediary control element between the human operator and the surgical instrument. The virtual bound acts as a software-based mediator that filters and regulates positioning commands, allowing efficient surgical movement while preventing dangerous movements that could cause tissue damage. The virtual bound is determined based on surgical parameters and dynamically adjusts the control characteristics.
Solution Approach 2:
The control parameters of the surgical robotic system are dynamically changed based on the virtual bound. When the virtual bound is determined, the control parameters are adjusted to establish a transition in control characteristics, enabling safe and accurate longitudinal movement. This parameter change allows the system to switch between different control modes to balance efficiency and safety.
2Reliability
If the control of longitudinal movement is highly restricted to prevent damage, then safety is improved, but the ability to perform precise surgical manipulation is reduced
Solution Approach 1:
The virtual bound and control parameters are made dynamic rather than static. The virtual bound is determined during the surgical procedure based on real-time parameters, and the control characteristics are continuously adjusted. This dynamic approach allows the system to provide high safety when needed while maintaining precise manipulation capability when safe to do so.
Solution Approach 2:
The system uses feedback from surgical parameters to continuously determine and adjust the virtual bound. The control system monitors the surgical procedure and adjusts the virtual bound position and control parameters accordingly, providing both safety and precision based on real-time conditions. This feedback mechanism ensures that safety restrictions are applied only when necessary.
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.