Trocar Kinematics for Robotic Surgical End Effector Tracking
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Solution Overview
Problem
Robotic surgical systems face challenges in accurately tracking the positions and orientations of robotic subsystems, such as robotic arms and end effectors, during surgical procedures, which affects the precision and reliability of surgical maneuvers.
Innovation Solution
The system uses a computing node to determine the three-dimensional starting and destination positions of the end effector's distal end, calculate a path between these positions, and determine a set of motions to move the end effector through a trocar, maintaining a trocar reference point to ensure accurate and safe surgical movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system uses a computing node to determine three-dimensional starting and destination positions and calculate motion paths, then the precision and control of robotic surgical movements is improved, but the device complexity and computational requirements increase
Solution Approach 1:
The patent introduces a computing node as an intermediary component that processes spatial coordinates, determines motion paths, and calculates trocar kinematics. This mediator handles the complex computational tasks separately, allowing the robotic arm and end effector to focus on surgical operations while the computing node manages the precision tracking and motion planning through algorithms that process position data and generate control commands
Solution Approach 2:
The system segments the robotic surgical system into distinct functional modules: the robotic arm with end effector for surgical operations, the trocar with reference point for spatial tracking, and the computing node for computational processing. This segmentation allows each component to be optimized independently while maintaining overall system precision through coordinated operation based on calculated motion paths
2Reliability
If the system calculates motion paths and maintains trocar reference points to ensure accurate surgical movements, then the reliability and safety of surgical procedures is improved, but the computational time and processing requirements increase
Solution Approach 1:
The system performs preliminary computational actions by determining the full motion path and calculating all necessary trocar kinematics before executing the surgical movement. The computing node calculates the sequence of positions and orientations in advance, allowing the robotic system to follow a pre-planned trajectory that ensures safety and accuracy without requiring real-time computational decisions during the actual surgical motion
Solution Approach 2:
The system dynamically adjusts the end effector's position and orientation along the calculated motion path while maintaining the trocar reference point. The robotic arm executes movements with dynamic control, continuously updating its position based on the pre-calculated path parameters, allowing flexible adaptation to the surgical scene while maintaining reliability through the constraint of the predetermined safe trajectory
Data Source
AI summary
The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.