Teleoperated Instrument Force Control With Dual-Mode Torque Limits
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Solution Overview
Problem
Conventional methods for controlling teleoperated instruments, such as surgical instruments, are rigid and lack responsiveness to the complex and dynamic nature of various procedures, often leading to inadequate or excessive force or torque settings that can hinder task performance and compromise patient safety.
Innovation Solution
A computer-assisted system with a repositionable structure and control system that switches between two modes of force or torque limits based on operator input, allowing for dynamic adjustment of instrument control to accommodate varying procedural needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional rigid control methods are used for teleoperated instruments, then the control system is simple and stable, but the force and torque settings are inadequate or excessive for dynamic procedural needs
Solution Approach 1:
The control system implements dynamic switching between two operational modes (first mode with first force/torque limit and second mode with second force/torque limit) to adapt to varying procedural requirements. This allows the system to transition from rigid, fixed control to flexible, adaptive control based on real-time surgical needs, resolving the contradiction between adaptability and complexity by providing mode-based flexibility rather than continuous adjustment complexity
Solution Approach 2:
The system changes the force and torque limit parameters between two distinct modes to match different surgical task requirements. By pre-defining two sets of force/torque parameters (first limit and second limit) that can be switched based on procedural context, the system achieves adaptability without requiring complex real-time parameter optimization, thus balancing versatility with control system simplicity
2Reliability
If fixed force or torque limits are applied, then the control system is simple to operate, but task performance is hindered and patient safety is compromised
Solution Approach 1:
The system dynamically adjusts force and torque limits by switching between two pre-configured modes, enhancing patient safety through context-appropriate force control. The dual-mode approach maintains ease of operation by presenting the operator with two clear, pre-defined control characteristics rather than requiring complex real-time adjustments, thus improving reliability without significantly increasing operational complexity
Solution Approach 2:
The control system incorporates mode switching capability that responds to procedural context and operator input, providing feedback-driven adaptation of force and torque limits. This allows the system to select appropriate safety parameters based on the current surgical task, improving patient safety while maintaining intuitive operation through clear mode transitions rather than complex continuous control
3Manufacturing precision
If mode switching between different force or torque limits is implemented, then surgical precision and patient safety are enhanced, but the control system complexity increases
Solution Approach 1:
The system implements dynamic mode switching between two distinct control modes with different force and torque limits, enabling surgical precision appropriate to the current task. By providing two pre-configured operational characteristics (first mode and second mode) that can be switched based on procedural needs, the system achieves enhanced surgical precision without requiring complex continuous adjustment mechanisms, thus balancing precision enhancement with acceptable control system complexity
Solution Approach 2:
The control system changes force and torque limit parameters between two discrete modes to optimize surgical precision for different tissue types and tasks. This discrete parameter switching approach achieves precision enhancement by providing task-appropriate force control while avoiding the complexity of continuous parameter optimization, thus resolving the contradiction between surgical precision and control system complexity
Data Source
AI summary
Techniques for controlling force in teleoperated instruments include a repositionable structure configured to support an instrument, an input control, and a control system. The control system is configured to control the instrument based on input received from an operator using the input control; during the control of the instrument in a first mode, determine whether to switch control of the instrument to a second mode; in response to a determination to switch the control of the instrument to the second mode, switch control of the instrument to the second mode; and while in the second mode, actuate an actuator used to control the instrument subject to a second force or torque limit lower than a first force or torque limit used to actuate the actuator in the first mode. Controlling the instrument includes controlling one or both of a position or an orientation of the instrument.