Surgical Robotic Arm Remote Center of Motion Control

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Solution Overview

Problem

Surgical robotic systems face challenges in maintaining a remote center of motion (RCM) that aligns with the incision point without physical constraints, such as a port latch coupling an access port to the robotic arm.

Innovation Solution

A surgical robotic system that includes a robotic arm with multiple joints, an access port decoupled from the robotic arm, and a controller that continuously monitors and determines the relative location of the incision point. The controller maintains a remote center of motion by aligning it with the incision point while moving the instrument or the robotic arm.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a port latch is used to couple the access port to the robotic arm, then the remote center of motion is maintained, but the system complexity and ease of operation are reduced

Engineering Contradiction:

Improveremote center of motion maintenanceVSAvoidphysical constraint mechanism

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces the mechanical port latch coupling system with a software-based control system. The controller maintains the remote center of motion by calculating and adjusting robotic arm positions based on detected access port location, eliminating the need for physical constraint mechanisms while preserving RCM functionality

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces an electromagnetic tracker and detection system as an intermediary between the access port and robotic arm. This intermediary enables the controller to detect access port location and maintain RCM alignment without direct mechanical coupling, resolving the contradiction between reliability and complexity

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If a port latch is used to couple the access port to the robotic arm, then the remote center of motion is maintained, but the flexibility and ease of operation are reduced

Engineering Contradiction:

Improveremote center of motion maintenanceVSAvoidflexibility in access port placement

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The patent implements a dynamic RCM maintenance system where the controller continuously adjusts the robotic arm position based on the detected access port location. This dynamic adjustment allows the system to adapt to different access port placements while maintaining RCM alignment, providing both reliability and operational flexibility

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent changes the control parameter from fixed mechanical coupling to variable software-based position control. The controller calculates the robotic arm position parameters based on the access port location parameters, enabling flexible adaptation to different surgical configurations while maintaining RCM functionality

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If the access port is decoupled from the robotic arm, then the ease of operation and flexibility are improved, but the precision of remote center of motion alignment may worsen

Engineering Contradiction:

Improveflexibility in access port placementVSAvoidremote center of motion alignment

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The patent implements a feedback control system where the electromagnetic tracker continuously monitors the access port location, and the controller uses this feedback information to adjust the robotic arm position. This closed-loop feedback mechanism ensures precise RCM alignment is maintained despite the decoupling of the access port from the robotic arm

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces mechanical alignment constraints with an optical/electromagnetic detection and control system. The electromagnetic tracker and camera system detect access port location with high precision, and the controller translates this information into accurate robotic arm positioning, achieving alignment precision without mechanical coupling

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20250134609A1Setting remote center of motion in surgical robotic system

Publication Date: 2025.05.01 COVIDIEN LP

AI summary

A surgical robotic system is configured to control a surgical robotic arm that conforms to the constraints of an incision point without physical constraints, such as a port latch coupling an access port to the robotic arm. The system is also configured to continuously monitor and determine the relative location of the incision point, the access port with respect to the robotic arm, and/or the instrument. Location and position of these components may be accomplished using cameras, electromagnetic sensors, and other tracking methodologies.