Basket Device Dithering for Stuck Instrument Detection
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Solution Overview
Problem
Medical instruments, particularly those used in anatomical cavities, often become stuck during retraction, leading to tissue damage and adverse outcomes due to inadequate detection and management of stuck conditions.
Innovation Solution
A method and system for detecting stuck instruments using force readings and axial dithering, where a basket device within an endoscope is used to capture objects in anatomical cavities, and responsive actions are taken based on predetermined thresholds and hazard zones to prevent instrument damage and facilitate safe retraction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the basket device is retracted from the anatomical cavity, then the procedure can be completed, but the instrument may become stuck causing tissue damage
Solution Approach 1:
The system performs preliminary detection of stuck conditions by monitoring force readings before complete retraction occurs. The control circuitry detects abnormal force values that indicate the basket device is stuck on tissue or the access sheath opening, and initiates warning signals or retraction speed reduction before the instrument fully extracts, preventing tissue damage while allowing procedure completion.
Solution Approach 2:
The system continuously monitors force readings during retraction and uses this feedback to detect stuck conditions. The control circuitry compares real-time force values against predetermined thresholds and automatically responds by generating warnings or reducing retraction speed, creating a closed-loop safety mechanism that prevents instrument damage while maintaining productivity.
2Reliability
If the retraction speed is reduced to prevent stuck conditions, then tissue damage is avoided, but procedure time increases
Solution Approach 1:
The system uses real-time force monitoring to provide feedback during retraction. When normal retraction forces are detected, the system maintains standard retraction speed for efficiency. When abnormal forces indicating a stuck condition are detected, the system automatically reduces speed or generates warnings, creating a dynamic adjustment that minimizes time loss while maximizing tissue safety.
Solution Approach 2:
The retraction speed is made dynamic rather than static. The control circuitry continuously adjusts the retraction speed based on real-time force readings, allowing fast retraction when conditions permit and automatic slowing only when stuck conditions are detected. This dynamic approach minimizes overall procedure time while ensuring tissue safety.
3Reliability
If force monitoring is implemented to detect stuck conditions, then instrument damage is prevented, but device complexity increases
Solution Approach 1:
The system uses the instrument's own actuator force readings to detect stuck conditions. The control circuitry monitors forces already being applied to move the basket device, turning the actuator's own operational data into a diagnostic tool. This self-service approach eliminates the need for separate, complex detection sensors while maintaining instrument integrity protection.
Solution Approach 2:
The control circuitry performs multiple functions: it controls the actuator for instrument movement and simultaneously monitors for stuck conditions using the same force sensing capability. This multi-functionality eliminates the need for dedicated detection hardware, reducing overall device complexity while maintaining reliability through the universal use of existing sensor infrastructure.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively detects stuck conditions, reduces the risk of tissue damage, and enables safe retraction of medical instruments by providing warnings and adjusting retraction speeds, thereby enhancing procedural safety and instrument integrity.
Implementation Method 1
one or more force sensors configured to generate signals indicating a force experienced by the basket device and the endoscope during retraction of the endoscope from the anatomical cavity
Implementation Method 2
The control circuitry is further configured to cause the basket device to advance and retract in a dithering motion
Data Source
AI summary
A robotic system includes one or more robotic manipulators, one or more actuators associated with at least one of the one or more robotic manipulators, one or more sensors associated with the one or more robotic manipulators and configured to generate signals indicating a force experienced by the one or more actuators, and control circuitry communicatively coupled to the one or more robotic manipulators and the one or more sensors. The control circuitry is configured to cause the basket device to advance and retract in a dithering motion, while the basket device is moving in the dithering motion, receive the signals from the one or more sensors indicating the force experienced by the one or more actuators, determine that the force is greater than a predetermined threshold, and execute a responsive action in response to the determination that the force is greater than the predetermined threshold.