Detection Pin Sensing for Sterile Surgical Instrument Coupling
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Solution Overview
Problem
Teleoperated surgical systems face challenges in maintaining a sterile environment due to the non-sterilizable components like motors, sensors, and electrical connections, and the complexity of attaching surgical instruments to teleoperated actuators.
Innovation Solution
The use of detection pins and corresponding sensors to reliably detect the presence and engagement of instrument sterile adapters (ISA) and surgical instruments with the teleoperated actuated surgical instrument manipulator, ensuring a sterile coupling point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If teleoperated actuators with motors, sensors, and electrical connections are used to control surgical instruments, then control precision and automation are improved, but the ability to maintain sterile conditions deteriorates because these components cannot be sterilized using conventional methods
Solution Approach 1:
The system is divided into two distinct segments: a non-sterile teleoperated actuator containing motors, sensors, and electronics, and a sterile adapter that can be sterilized. This segmentation allows each component to be optimized for its specific requirements - the actuator for automation and the adapter for sterility.
Solution Approach 2:
A sterile adapter is introduced as an intermediary component between the teleoperated actuator and the surgical instrument. This adapter acts as a barrier that transmits mechanical forces and control signals while protecting the non-sterilizable actuator components from sterilization processes, enabling sterility maintenance without sacrificing automation capability.
2Reliability
If multiple connections are required between surgical instrument and teleoperated actuator to transmit actuator forces, electrical signals, and data, then control reliability is improved, but attachment complexity increases
Solution Approach 1:
Multiple separate connections for transmitting actuator forces, electrical signals, and data are merged into a single integrated sterile adapter interface. This consolidation maintains all necessary control pathways while simplifying the attachment process from multiple separate connections to one unified interface.
Solution Approach 2:
The sterile adapter is designed as a universal interface that simultaneously handles multiple functions: mechanical force transmission, electrical signal routing, and data communication. This multi-functionality in a single component reduces attachment complexity while maintaining comprehensive control reliability.
3Adaptability or versatility
If surgical instruments are detachably coupled to teleoperated actuators to allow separate sterilization and instrument selection, then adaptability is improved, but the risk of improper attachment increases
Solution Approach 1:
Detection pins are positioned and configured in advance within the sterile adapter to automatically verify proper instrument attachment. This preliminary detection action occurs immediately upon instrument coupling, ensuring attachment reliability before the surgical procedure begins, while maintaining the adaptability for instrument exchanges.
Solution Approach 2:
A feedback mechanism is implemented where detection pins provide real-time information about instrument presence and proper coupling to the control system. This feedback loop ensures that only properly attached instruments are activated, maintaining attachment reliability while allowing frequent instrument exchanges during surgery.
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
This solution allows for reliable detection of the engagement of ISA and surgical instruments, maintaining sterility and simplifying the attachment process, thereby enhancing the operational efficiency and safety of teleoperated surgical systems.
Implementation Method 1
A carriage portion of the teleoperated actuated surgical instrument manipulator includes a plurality of detection pins used to detection the presence of the ISA and a surgical instrument
Data Source
Figure 1~2
Figure 3A
Figure 3B
AI summary
An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.