Surgical Teleoperation Master Control for Separate Grip and Force Commands
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Solution Overview
Problem
Existing master control devices for robotic surgery lack intuitive and precise control over the opening and closing of slave surgical instruments, often resulting in unwanted commands due to inconsistent geometric relationships between sensors, particularly in unconstrained systems, leading to delays and involuntary actuations.
Innovation Solution
A master control device with two tracking sensors that detect geometric variations along different directions to separately control the opening/closing and gripping force of a slave surgical instrument, using a single movement trajectory to distinguish between these actions, minimizing sensor usage and ensuring precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single movement trajectory is used to control both opening/closing and gripping force, then device complexity is reduced, but control precision deteriorates due to inability to differentiate between the two functions
Solution Approach 1:
The patent segments the control functions by assigning different sensor types to different functions: optical sensors track the master device position and orientation for opening/closing control, while force sensors detect gripping force modulation. This segmentation allows precise differentiation of the two functions while keeping the overall device complexity manageable.
Solution Approach 2:
The patent adds a new dimension of control by introducing force sensing capability alongside position tracking. The force sensor measures the third dimension (force magnitude) while optical sensors provide positional information in three spatial dimensions, creating a multi-dimensional control space that clearly distinguishes between opening/closing commands and gripping force modulation.
2Ease of operation
If unconstrained flying master device is used, then ease of operation is improved, but reliability deteriorates due to unwanted commands from inconsistent geometric relationships
Solution Approach 1:
The patent implements feedback mechanisms where force sensors continuously monitor the gripping force and provide real-time information to the control system. This feedback allows the system to distinguish between intentional force modulation and unintentional movements, correcting for geometric inconsistencies and preventing unwanted commands while maintaining the freedom of movement.
Solution Approach 2:
The patent replaces mechanical constraints with sensor-based detection and software-based control. Instead of using mechanical linkages to enforce geometric relationships, the system uses optical sensors and force sensors to detect the master device state and software algorithms to interpret commands, eliminating the reliability issues associated with mechanical geometric constraints.
3Measurement precision
If multiple sensors are used to detect geometric relationships, then control precision is improved, but device complexity increases
Solution Approach 1:
The patent applies local quality by using different types of sensors in different locations for different purposes: optical sensors are positioned on the master device to track position and orientation, while force sensors are positioned at the gripping interface to detect force magnitude. Each sensor type is optimized for its specific local function, achieving high measurement precision without requiring multiple sensors of the same type throughout the system.
Data Source
Figure 1A~2
Figure 3
Figure 4~5A
AI summary
A robotic system (100) for medical or surgical teleoperation, comprising a master control device (110) for controlling at least the degree of freedom of opening/closing (GR) of the slave surgical instrument (170) with a first tracking sensor (31) and a second tracking sensor (32), in which the system further comprises at least one control unit (104), configured to detect a first variation of the geometric relationship between the first tracking sensor (31) and the second tracking sensor (32) of the master control device (110) along a first direction (X1), based on the first variation of the detected geometric relationship, move a slave surgical instrument (170) to open/close; detect a second variation of the geometric relationship between the first tracking sensor (31) and the second tracking sensor (32) of the master control device (110) along a second direction (X2), based on the second variation of the detected geometric relationship, vary the closing/gripping/cutting force of the enslaved slave surgical instrument (170).