Tele-Surgical Table Registration for Multi-Arm Spatial Localization
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Solution Overview
Problem
Existing tele-surgical systems face challenges in localizing movement within a surgical environment, particularly in systems with multiple manipulators, which can lead to inefficiencies, increased complexity, and potential collisions.
Innovation Solution
The implementation of kinematic linkage structures and associated control systems that allow for the registration of a surgical table with a manipulator assembly, enabling the determination of their spatial relationship and facilitating coordinated movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple manipulators are used in tele-surgical systems, then surgical capability and versatility are improved, but system complexity and difficulty of localization increase
Solution Approach 1:
The system divides the surgical environment into distinct reference frames: a world reference frame attached to the surgical table and individual reference frames for each manipulator. This segmentation allows each manipulator to be independently localized and controlled, reducing the overall system complexity while maintaining multiple manipulators for enhanced surgical capability.
Solution Approach 2:
A registration feature is introduced as an intermediary element that couples the surgical table to the manipulator assembly. This registration feature serves as a mediator that establishes the spatial relationship between the world reference frame and manipulator reference frames, enabling accurate localization without requiring direct complex interactions between all manipulators and the table.
2Ease of operation
If manipulators are independently positioned without registration, then maneuverability is improved, but collision risk and localization accuracy worsen
Solution Approach 1:
The system implements feedback by continuously monitoring the position and orientation of each manipulator relative to the surgical table through the registration feature. This feedback mechanism allows the control system to adjust manipulator positions in real-time, maintaining maneuverability while preventing collisions through accurate spatial awareness and coordinated movement.
Data Source
AI summary
A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.