Adaptive Insertion Force Threshold for Flexible Instrument Buckling

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Solution Overview

Problem

During minimally invasive surgical procedures, endoscopes can buckle within patient lumens due to excessive insertion force, leading to potential injury and uncontrollable energy release, as existing technologies lack effective methods to dynamically regulate insertion force and detect buckling in real-time.

Innovation Solution

A surgical robotic system that determines a dynamic insertion force threshold based on real-time data and pre-operative models, using sensors and feedback mechanisms to prevent buckling by comparing measured and expected statuses, and adjusts the insertion force accordingly to ensure safe navigation of the endoscope.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Length of moving object

If insertion force is increased to advance the endoscope deeper into the patient lumen, then the endoscope can reach the target location, but the endoscope may brush against and damage fragile internal anatomy

Engineering Contradiction:

Improveinsertion depthVSAvoiddamage to internal anatomy

Core Design Contradiction:

Length of moving objectVSObject-affected harmful factors

Solution Approach 1:

The system continuously monitors insertion force through sensors and compares it against a dynamically determined threshold. When the force approaches the threshold, the system provides feedback to the operator via visual, auditory, or haptic signals, allowing real-time adjustment to prevent tissue damage while maintaining advancement progress

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The insertion force threshold is not fixed but dynamically adjusted based on real-time data from the endoscope and patient-specific anatomical information. The threshold adapts to changing conditions during insertion, allowing safe navigation through varying tissue densities and anatomical structures

Inventive Principle:

Principle #15Dynamics

2Speed

If insertion force is increased beyond normal levels to advance a buckled endoscope, then the endoscope can be pushed forward, but potential energy stores up and may be released uncontrollably

Engineering Contradiction:

Improveinsertion speedVSAvoidcontrol stability

Core Design Contradiction:

SpeedVSReliability

Solution Approach 1:

The force monitoring system detects abnormal force spikes that indicate buckling and provides immediate feedback to the operator. This allows the operator to reduce or stop insertion force before dangerous energy accumulation occurs, preventing uncontrollable energy release

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system identifies and responds to buckling events by temporarily halting advancement, allowing the buckled portion to be gently advanced or repositioned without continuing to apply force that would accumulate dangerous energy levels

Inventive Principle:

Principle #21Skipping (Rushing through)

3Device complexity

If a fixed insertion force threshold is used, then the system is simple to implement, but it cannot adapt to different patient anatomies and insertion conditions

Engineering Contradiction:

Improvethreshold determination systemVSAvoidadaptation to patient anatomy

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The system performs preliminary actions by determining a safe insertion force threshold before insertion begins, using pre-operative imaging and patient-specific anatomical data. This preliminary threshold setting allows the system to adapt to the specific patient's anatomy while maintaining safety throughout the procedure

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system changes the threshold parameter dynamically based on real-time insertion data and patient-specific factors. The threshold is adjusted during the procedure as the endoscope encounters different tissue densities and anatomical structures, optimizing safety for each unique insertion scenario

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS10543048B2Flexible instrument insertion using an adaptive insertion force threshold

Publication Date: 2020.01.28 AURIS HEALTH INC

AI summary

A robotic system is described for determining and using an insertion force threshold to avoid too much force being applied to a flexible instrument placed within a patient. The robotic system comprises a medical instrument comprising an elongate body, and further comprises a robotic arm coupled to the instrument as well as a controller configured to receive instrument data based in part on a current location of the elongate body, access patient data associated with the patient, determine an insertion force threshold, receive an insertion force detected by a force sensor coupled to the robotic arm, compare the insertion force with the insertion force threshold, and responsive to the insertion force exceeding the force threshold, generate a recommendation signal for the robotic system.