Virtual Tool Control Panel for Robotic Surgical Dexterity
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Solution Overview
Problem
Minimally invasive surgical instruments lack intuitive control and dexterity, making it difficult for surgeons to perform procedures with precision and sensitivity due to the lack of direct manipulation and misalignment between visual feedback and actual instrument movement.
Innovation Solution
A surgical system that generates a modified image of the surgical environment with a virtual control panel integrated, allowing surgeons to interact with control elements to adjust instrument parameters intuitively, with the panel's position and shape adapting to the instrument's orientation and movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If traditional minimally invasive surgical instruments are used, then small incisions can be made to reduce recovery time and scarring, but the surgeon loses flexibility in tool placement and dexterity in manipulating instruments
Solution Approach 1:
A virtual control panel is introduced as an intermediary interface between the surgeon and the surgical instrument. The control panel is displayed within the surgical field view and allows the surgeon to adjust instrument parameters (such as shaft articulation and end effector orientation) directly from the console, eliminating the need for complex physical manipulations of the instrument shafts and providing intuitive control comparable to open surgery
Solution Approach 2:
The physical control panel is replaced with a virtual copy displayed on the visual display system. This virtual representation allows the surgeon to interact with control elements that mirror the actual instrument parameters, providing a direct visual and tactile interface without requiring physical access to the instrument shafts or complex mechanical linkages
2Length of moving object
If traditional endoscopic instruments with long shafts are used, then access to deep surgical sites is achieved, but the surgeon's ability to feel forces and maintain dexterity is reduced
Solution Approach 1:
The system provides visual feedback by displaying the virtual control panel and instrument parameters within the surgical field view. The surgeon can see the current state of the instrument (shaft articulation, end effector orientation) and make precise adjustments through the control panel, creating a closed-loop control system that enhances dexterity and situational awareness without requiring direct tactile feedback through long shafts
3Loss of information
If traditional visual display systems are used, then the surgical field is visible, but the control interface is separate and not intuitive
Solution Approach 1:
The control panel is merged with the surgical field view by displaying it within the same visual display. The control elements are superimposed on the surgical scene, allowing the surgeon to control instrument parameters directly within the context of the visual field without switching between separate control interfaces and visual displays, thereby improving intuitiveness and reducing cognitive load
Data Source
AI summary
A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.