Surgical Robot Virtual Bound Control for Safe Instrument Insertion

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Surgical robotic systems face challenges in controlling the longitudinal movement of surgical instruments, which can lead to accidental puncture of organ surfaces if not sufficiently 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, allowing for safer and more accurate control of the instrument's longitudinal movement towards a surgical target, without relying on sensor data.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the surgical instrument is allowed to move freely towards the surgical target, then the surgical procedure can be performed more efficiently, but the risk of accidentally puncturing the organ surface increases

Engineering Contradiction:

Improvesurgical procedure efficiencyVSAvoidrisk of accidental puncture

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

A virtual bound is introduced as an intermediary control mechanism between the human operator and the surgical instrument. The virtual bound acts as a software-based mediator that dynamically regulates the instrument's longitudinal movement based on its position relative to the surgical target, allowing efficient approach while preventing dangerous contact

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The control system transitions from static to dynamic control by continuously adjusting the virtual bound parameters based on the surgical instrument's real-time position. The virtual bound expands or contracts dynamically as the instrument approaches or moves away from the surgical target, optimizing both safety and surgical efficiency throughout the procedure

Inventive Principle:

Principle #15Dynamics

2Reliability

If a virtual bound is implemented to control longitudinal movement, then the safety near the surgical target is improved, but the control system complexity increases

Engineering Contradiction:

Improvesafety near surgical targetVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces complex mechanical safety mechanisms with a software-based virtual bound system. Instead of using physical barriers or complex mechanical interlocks, the control is achieved through computational algorithms that process positioning commands and dynamically adjust the virtual bound, simplifying the overall system architecture while maintaining high safety standards

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system implements continuous feedback by monitoring the surgical instrument's position relative to the virtual bound and automatically adjusting control parameters. The processor receives positioning commands, determines the virtual bound based on current position, and modifies the control behavior accordingly, creating a closed-loop control system that enhances safety without requiring complex external monitoring equipment

Inventive Principle:

Principle #23Feedback

3Manufacturing precision

If the virtual bound dynamically adjusts control behavior, then the accuracy of instrument control is improved, but the response time may be affected

Engineering Contradiction:

Improveinstrument control accuracyVSAvoidcontrol response time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The control system operates in periodic cycles, continuously updating the virtual bound based on the surgical instrument's position. The processor periodically recalculates the virtual bound parameters and adjusts control behavior in rhythmic intervals, ensuring accurate control while maintaining efficient response through optimized update frequencies that balance precision and speed

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS11903660B2Surgical robotic system and control of surgical robotic system

Publication Date: 2024.02.20 PRECEYES BV

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.