Surgical Robotic Wristed Instrument Realignment via Orientation Feedback
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Solution Overview
Problem
Surgical robotic systems face challenges in achieving precise operation of surgical instruments due to misalignment issues, which can affect the accuracy and effectiveness of minimally invasive medical procedures.
Innovation Solution
A surgical robotic system is designed with a processor that determines the orientation misalignment of the instrument tool center point and adjusts the instrument accordingly. The processor calculates a motion axis, user delta orientation input, unadjusted instrument commanded orientation, misalignment axis, and adjustment value to realign the instrument and its end effector, such as jaws, effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a surgical robotic system is used for remote operation of surgical instruments, then the effectiveness of minimally invasive procedures is improved, but misalignment of the instrument tool center point occurs affecting operational precision
Solution Approach 1:
The system continuously monitors the actual orientation of the instrument tool center point and compares it with the desired orientation. Based on this feedback, the processor automatically calculates and applies realignment adjustments to the commanded orientation, ensuring the instrument remains accurately positioned despite misalignment issues during remote operation.
Solution Approach 2:
The system performs self-correction by automatically detecting its own misalignment and applying realignment adjustments without requiring external intervention. The processor autonomously calculates the difference between desired and actual orientations and modifies subsequent commands to compensate for the misalignment, enabling the system to maintain precision independently.
2Measurement precision
If the processor calculates multiple parameters including motion axis, user delta orientation input, unadjusted instrument commanded orientation, and misalignment axis, then the realignment accuracy is improved, but the computational complexity increases
Solution Approach 1:
The realignment calculation is divided into distinct sequential steps: calculating the motion axis from orientation differences, determining the unadjusted commanded orientation, computing the misalignment axis, and finally calculating the realignment adjustment. This segmentation of the computational process into manageable stages improves accuracy while organizing the complexity into a structured workflow.
Data Source
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AI summary
A surgical robotic system includes a surgical console including a handle controller. The system also includes a robotic arm including an instrument having: a plurality of cables that are movable longitudinally; and an end effector movable by the cables, the end effector having a pair of opposing jaws. The system further includes a processor configured to: determine an amount of orientation misalignment and amount of jaw misalignment, adjust the instrument based on the amount of orientation misalignment, and adjust the pair of opposing jaws based on the amount of jaw misalignment.