Surgical Robotic System Low Visibility Control
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Solution Overview
Problem
Surgical robotic systems face challenges in controlling instruments and cameras during low visibility modes, which can lead to unexpected patient outcomes and inappropriate instrument usage.
Innovation Solution
The surgical robotic system incorporates an imaging system capable of obtaining white and NIR images using fluorophores like indocyanine green (ICG), allowing for overlay modes, intensity maps, and monochromatic displays. It prevents instrument movement and energy delivery during limited visibility modes and automatically switches to high visibility modes when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If fluorescence imaging mode is used to identify tissue structures, then imaging capability is improved, but visibility is reduced leading to safety risks
Solution Approach 1:
The system continuously monitors the current imaging mode and automatically provides feedback by switching to white light mode when potential safety risks are detected, such as when the instrument is in a dangerous position or when energy delivery is attempted in low visibility conditions
Solution Approach 2:
The system introduces an intermediary safety control mechanism that acts as a mediator between the imaging system and instrument control, preventing direct operation in low visibility modes and requiring transition through safe states first
2Measurement precision
If monochromatic mode is used to maximize tissue differentiation, then imaging contrast is improved, but visibility is reduced limiting instrument control
Solution Approach 1:
The system dynamically adjusts the imaging mode based on real-time surgical conditions, automatically switching between monochromatic, overlay, and white light modes depending on instrument position, surgical phase, and safety requirements
Solution Approach 2:
The system periodically evaluates safety conditions and imaging quality, switching between high-contrast modes and high-visibility modes in periodic cycles based on whether the current state meets safety criteria
3Reliability
If automated safety controls are implemented during low visibility modes, then patient safety is improved, but system complexity increases
Solution Approach 1:
The system provides self-service safety control by automatically monitoring its own state, detecting unsafe conditions, and switching imaging modes without requiring external intervention or complex external safety systems
Solution Approach 2:
The safety control functions are merged with the existing imaging system control architecture, combining safety monitoring, mode switching, and instrument control into a unified system rather than adding separate complex safety subsystems
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
This solution enhances safety by preventing inappropriate instrument usage during low visibility conditions, while allowing for the safe use of limited visibility modes when necessary, thereby reducing the risk of adverse outcomes.
Implementation Method 1
In fluorescence mode, fluorescence excitation light excites fluorophores in the tissue, which emit fluorescence light at an emission wavelength, which is typically greater than the excitation wavelength.
Data Source
AI summary
A surgical robotic system includes an instrument drive unit coupled to and configured to actuate a surgical instrument and a laparoscopic camera. An image processing device is coupled to the laparoscopic camera and is configured to operate in a plurality of imaging modes having a low visibility mode. A surgeon console having a handle controller receives user input to move the surgical instrument. A controller operates the surgical instrument in a first operational mode while the low visibility mode is active, and in a second operational mode while the low visibility mode is not active.