Dual-Pinion Closure Crosscheck for Robotic Stapling Torque
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Solution Overview
Problem
Robotic surgical systems lack effective mechanisms for ensuring the precise torque control and status monitoring of closure systems, which can lead to errors during high-severity tasks like clamping and stapling, potentially resulting in inadequate tissue sealing or staple malformation.
Innovation Solution
A robotic surgical system incorporating a dual-motor closure system with a control circuit that crosschecks the torques generated by two motors to ensure synchronization and stability, transmitting signals based on the comparison to indicate the status of the closure system, thereby mitigating risks associated with clamping errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a dual motor-driven closure system is used, then the productivity and reliability of clamping and stapling procedures are improved, but the complexity of torque and angular displacement monitoring increases
Solution Approach 1:
The control circuit continuously receives torque parameters from both motors, compares them in real-time, and generates status signals based on discrepancies. This feedback mechanism ensures reliable operation by immediately detecting and reporting monitoring issues without requiring complex manual intervention
Solution Approach 2:
The control circuit acts as an intermediary that automatically compares torque and angular displacement parameters between the two motors, eliminating the need for complex manual monitoring systems. The communication device serves as another intermediary to transmit status information to external systems
2Manufacturing precision
If torque and angular displacement monitoring is implemented, then the precision of clamping and stapling procedures is improved, but the device complexity increases
Solution Approach 1:
The control circuit receives torque parameters and angular displacement parameters from both motors, compares these parameters in real-time, and generates status signals. This automated feedback system ensures precise clamping and stapling operations while maintaining relatively simple system architecture
Solution Approach 2:
The system replaces complex mechanical monitoring mechanisms with electronic parameter comparison. The control circuit electronically compares torque and angular displacement parameters from both motors, achieving precise monitoring with simpler electronic systems rather than complex mechanical sensors and actuators
Data Source
AI summary
A robotic surgical system that comprises a closure system. The closure system comprises a first pinion drivingly coupled to a first motor, a second pinion drivingly coupled to a second motor, and a closure gear selectively driven by the first pinion and the second pinion. The robotic surgical system further comprises a control circuit configured to implement a motor crosscheck operation. The control circuit is configured to receive a first parameter indicative of a first torque generated by the first motor, receive a second parameter indicative of a second torque generated by the second motor, compare the first parameter to the second parameter, and transmit a signal to a communication device, wherein the signal is based on the comparison and indicative of a status of the closure system.