Tele-Surgical Table Registration for Dynamic Manipulator Coordination
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Solution Overview
Problem
Current tele-surgical systems face challenges in localizing and coordinating the movement of multiple manipulators within a surgical environment, particularly when the surgical table is separately positionable, leading to difficulties in efficiently positioning patients and preventing manipulator collisions.
Innovation Solution
The implementation of registration methods and devices that allow for the determination of the spatial relationship between the surgical table and the manipulator assembly, enabling dynamic registration and coordinated movement between the table and manipulators, using features such as contact-based registration, linear encoders, shape sensors, and non-contact sensing technologies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the surgical table is separately positionable from the manipulator assembly, then the surgical table can be independently adjusted to various positions and orientations for patient comfort and surgical access, but it becomes difficult to localize and coordinate the movement of manipulators relative to the table
Solution Approach 1:
The patent introduces registration features (markers, sensors, or mechanical references) as intermediaries between the surgical table and manipulator assembly. These features enable the control system to detect and calculate the spatial relationship between the independently positionable table and manipulators, resolving the coordination difficulty without constraining table mobility.
2Adaptability or versatility
If multiple manipulators are used in the tele-surgical system, then surgical dexterity and functionality are enhanced, but it becomes challenging to prevent collisions and coordinate movement between manipulators
Solution Approach 1:
The patent implements a control system with sensors that continuously monitor the positions and orientations of multiple manipulators. The system provides real-time feedback to calculate coordinated movements, detect potential collisions, and adjust manipulator trajectories to maintain safe operational distances while preserving surgical functionality.
3Measurement precision
If registration methods using multiple sensors and features are implemented, then the precision of spatial relationship determination is improved, but the mechanical complexity and setup time increase
Solution Approach 1:
The patent divides the registration system into modular components: fixed registration features on the table, corresponding sensors on the manipulators, and a control system for processing data. This segmentation allows selective implementation of registration features based on surgical needs, reducing unnecessary complexity while maintaining precision.
4Adaptability or versatility
If dynamic registration is implemented to allow table movement during procedures, then patient repositioning flexibility is improved, but the complexity of maintaining registration accuracy increases
Solution Approach 1:
The patent implements dynamic registration where the control system continuously updates the spatial relationship between the surgical table and manipulator assembly as the table moves. Sensors detect real-time position changes, and the system recalculates coordination parameters to maintain registration accuracy throughout the procedure, enabling patient repositioning without losing manipulator localization.
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 the efficiency and ease of use of tele-surgical systems by allowing precise positioning of the surgical table and manipulators, reducing mechanical complexity, and preventing collisions, thereby improving the overall maneuverability and setup process during minimally invasive procedures.
Implementation Method 1
linear encoders
Implementation Method 2
shape sensors
Implementation Method 3
non-contact sensing technologies
Data Source
AI summary
Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.