End Effector Installation Verification Through Effort-Sensed Test Moves

Solution Overview

Problem

Existing robotic manipulation systems face challenges in ensuring proper installation of end effectors, which can lead to incorrect manipulation, damage to objects, or procedural delays due to misalignment or improper installation, especially in hazardous or minimally invasive environments.

Innovation Solution

The system includes a manipulator arm with a transducer to provide effort information and a processor that performs test moves to determine the installation status of the end effector, analyzing effort profiles to verify correct installation before allowing operation, thereby preventing improper use and potential damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If manual installation verification is performed, then installation status can be checked, but time is lost and human error may occur

Engineering Contradiction:

Improveinstallation verification accuracyVSAvoidprocedural delay

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary installation verification by executing test moves before the surgical procedure begins. The processor automatically commands the actuator to move the end effector through predetermined trajectories and analyzes the effort information in advance, ensuring installation correctness is confirmed before actual use, thus preventing procedural delays during the surgery.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system performs self-verification of end effector installation through automated test moves and effort profile analysis. The processor independently commands the actuator to execute test trajectories and evaluates the collected effort information against expected profiles, eliminating the need for manual verification by surgeons or assistants, thereby saving time and ensuring consistent accuracy.

Inventive Principle:

Principle #25Self-service

2Productivity

If no installation verification is performed, then procedure continues without delay, but incorrect manipulation or damage may occur

Engineering Contradiction:

Improveprocedural efficiencyVSAvoiddamage to manipulated object

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary installation verification by executing test moves before the surgical procedure begins. The processor automatically commands the actuator to move the end effector through predetermined trajectories and analyzes the effort information in advance, ensuring installation correctness is confirmed before actual use, thus preventing procedural delays during the surgery.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system takes preliminary anti-action by detecting incorrect end effector installation before it can cause harmful effects. The processor analyzes effort information from test moves to identify mismatches between expected and actual effort profiles, preventing incorrect manipulation or damage to surgical specimens by stopping the procedure before damaged occurs.

Inventive Principle:

Principle #9Preliminary anti-action

3Measurement precision

If automated test moves are performed, then installation status is verified accurately, but system complexity increases

Engineering Contradiction:

Improveinstallation status detection accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system uses a multi-functional approach where the existing actuator and transducer serve dual purposes: they perform both the actual surgical manipulation and the installation verification test moves. The processor also serves multiple functions by commanding test moves, collecting effort information, analyzing profiles, and determining installation status, eliminating the need for separate verification hardware and reducing overall system complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system performs self-verification of end effector installation through automated test moves and effort profile analysis. The processor independently commands the actuator to execute test trajectories and evaluates the collected effort information against expected profiles, eliminating the need for manual verification by surgeons or assistants, thereby saving time and ensuring consistent accuracy.

Inventive Principle:

Principle #25Self-service

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 approach ensures that end effectors are correctly installed before use, preventing operational issues and ensuring safe and efficient procedures by verifying the installation status through test moves and effort profile analysis.

Implementation Method 1

a transducer configured to provide first effort information of the end effector as the end effector moves

Methodology Applied

Scientific EffectTransducer measurement:

Data Source

PatentEP3672514B1User-installable part installation detection techniques

Publication Date: 2024.02.21 INTUITIVE SURGICAL OPERATIONS INC

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Figure 1B
Figure 2~3

AI summary

Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the end effector using the first effort information of the first test move.