Surgical Tool Manipulator with Adaptive Scale Control
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Solution Overview
Problem
In laparoscopic surgery, the convergence of surgical tools and an endoscope within the abdominal cavity often leads to collisions due to the limited working space, complicating the handling of surgical instruments.
Innovation Solution
A surgical system with a tool manipulator capable of translational and rotational motion, a console for receiving movement commands, and a controller that adjusts the scale of these movements to prevent collisions, allowing for precise shifting and attitude changes of surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If surgical tools are inserted into the abdominal cavity for laparoscopic surgery, then the surgical procedure can be performed, but collision between surgical tools occurs due to limited working space
Solution Approach 1:
The patent applies dynamics by implementing real-time adaptive scale adjustment of tool movement based on the current surgical workspace conditions. The system dynamically changes the translation and rotation scale factors during operation to prevent collisions, allowing the tool to navigate constrained spaces more effectively. This dynamic adaptation resolves the contradiction by making the tool handling responsive to spatial constraints while maintaining operational ease.
Solution Approach 2:
The patent changes parameters by adjusting the scale factors for translation and rotation movements of the surgical tool. By modifying these movement parameters in real-time based on detected workspace conditions, the system prevents tool collisions while maintaining precise control. The parameter adjustment allows the same physical tool movement to produce different effective movements in different surgical contexts, resolving the collision issue without sacrificing ease of operation.
2Measurement precision
If the surgical tool movement is amplified to improve precision, then handling precision improves, but the risk of collision increases in constrained spaces
Solution Approach 1:
The system dynamically adjusts the amplification level (scale factor) of tool movement based on real-time detection of workspace constraints. When the tool approaches narrow passages or confined spaces, the system reduces the amplification factor to prevent collisions. When more space is available, it increases amplification for finer control. This dynamic approach resolves the contradiction between precision and collision risk by making the amplification level adaptive rather than fixed.
Solution Approach 2:
The patent implements feedback by continuously monitoring the surgical tool's position and the workspace environment, then using this information to adjust the movement scale factors. The feedback loop detects when the tool is in a constrained environment and automatically modifies the amplification level accordingly. This feedback mechanism allows the system to maintain high precision when needed while preventing collisions through real-time adjustment, resolving the contradiction between measurement precision and collision risk.
Data Source
AI summary
A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.