Robotic Surgical Tool Visual Indicators for Collision Avoidance
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Solution Overview
Problem
Current minimally invasive robotic surgical systems face challenges in providing intuitive control and avoiding collisions, as they lack the dexterity and sensitivity of open surgery, and struggle with accurate visualization and control of end effectors, leading to potential tissue damage and human error.
Innovation Solution
A surgical robotic system with an electromechanical arm and tool featuring visual indicators on the end effector, coupled with a controller that adjusts the end effector's movement based on visually measured actions, including speed and position, to prevent collisions and ensure precise tissue manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If traditional minimally invasive surgical instruments are used, then small incisions and reduced recovery time are achieved, but the surgeon loses flexibility of tool placement and intuitive control
Solution Approach 1:
The robotic surgical system divides the surgical instrument into separate controllable segments (electromechanical arm and end effector), allowing independent control of each component. This enables precise tool placement through small incisions while maintaining surgical flexibility, as the end effector can be positioned and oriented independently through the constrained access provided by the trocar.
2Length of moving object
If elongate endoscopic instruments are used, then access to abdominal cavity is achieved, but the surgeon's ability to feel forces is reduced
Solution Approach 1:
The robotic surgical system incorporates visual feedback mechanisms (visual indicators on the end effector and camera system) that provide real-time information about end effector position, orientation, and tissue interaction forces. This compensates for the loss of tactile feedback by allowing the surgeon to visually monitor and adjust forces applied to tissue, improving reliability of force application despite the length of the instrument.
3Extent of automation
If end effector movement is controlled remotely, then surgical procedures can be performed, but coordination between visual display and actual movement becomes difficult
Solution Approach 1:
The robotic surgical system creates a visual copy of the surgical field through the camera system, displaying real-time images on a monitor that accurately represent the position and orientation of the end effector. Visual indicators on the end effector itself provide additional spatial reference, allowing the surgeon to coordinate remote control inputs with visual feedback, making the teleoperated control intuitive and accurate.
4Measurement precision
If visual indicators are added to the end effector, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The robotic surgical system uses visual indicators on the end effector that may incorporate color changes or distinct visual patterns to encode position and orientation information. These visual indicators are detected by the camera system, providing precise measurement data without requiring complex electronic sensors or actuators in the end effector itself, thus minimizing the increase in device complexity.
Data Source
AI summary
Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.