Untethered Robotic Handpiece Proximity Control
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, impacting decision-making and control precision.
Innovation Solution
A control system for robotic surgical tools that includes an untethered handpiece with sensors for detecting motion, force, and proximity, allowing the system to switch between gross motion and precision modes based on tissue proximity, enabling precise control and scaled motion control signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If imaging systems are used to provide visualization data during robotic surgery, then clinicians can view the surgical site, but concealed structures, physical contours, and dimensions within three-dimensional space remain unrecognizable
Solution Approach 1:
A proximity detection system acts as an intermediary between the robotic surgical tool and the clinician, providing indirect measurement of tissue proximity through sensor data. The system uses optical coherence tomography (OCT) or other proximity sensors to detect tissue boundaries and convey this information to the clinician through the user interface, enabling recognition of concealed structures without direct visual exposure.
Solution Approach 2:
The patent replaces traditional mechanical imaging systems with sensor-based detection systems. Instead of relying solely on visual imaging capabilities, the system uses proximity sensors, force sensors, and motion sensors to detect and convey information about concealed structures, physical contours, and dimensions within the surgical site.
2Ease of operation
If robotic systems rely on traditional imaging views to determine desired actuations, then clinicians can make decisions based on available visual information, but decision-making precision is limited by incomplete visualization data
Solution Approach 1:
The control system incorporates real-time feedback from proximity detection sensors, force sensors, and motion sensors to assist clinician decision-making. The system provides scaled control signals based on detected tissue proximity, automatically adjusting robotic tool movements to maintain safe distances from critical structures. This feedback loop enhances decision-making precision by providing continuous information about the surgical environment beyond what traditional imaging can convey.
3Productivity
If the robotic surgical tool operates in gross motion mode for efficient navigation, then productivity is improved, but precision control is reduced when approaching tissue
Solution Approach 1:
The control system dynamically adjusts the level of precision and scaling of control signals based on real-time proximity detection. When the robotic surgical tool is far from tissue, the system operates in a less restricted mode for efficient navigation. As the tool approaches tissue within a threshold distance, the system automatically increases precision control and scaling to prevent accidental contact. This dynamic adaptation allows the system to optimize both productivity during navigation and precision during critical phases.
4Measurement precision
If multiple sensors are integrated into the untethered handpiece for comprehensive motion detection, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple sensor types (proximity sensors, force sensors, motion sensors) into a unified control system within the untethered handpiece. These sensors work together to provide comprehensive feedback about the robotic tool's position, forces applied, and movements. The control system processes data from all sensors simultaneously to generate appropriately scaled control signals, merging multiple measurement functions into a coordinated system that enhances overall measurement precision without requiring separate independent systems.
Data Source
AI summary
An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.