Surgical Robot End Effector Lever Sensing for Safe Cutter Activation
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Solution Overview
Problem
Current surgical robotic systems lack an efficient mechanism for manually operating end effectors with cutting accessories, particularly in ensuring precise control and preventing accidental activation or deactivation of cutting tools during surgical procedures.
Innovation Solution
The end effector design includes a linkage assembly, a cutting accessory with a nose tube, a mounting fixture, a lever, and a sensor-activator mechanism that allows for controlled activation and deactivation of the cutting accessory based on the lever's position, ensuring safe and precise operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sensor-activator mechanism with lever is added to control cutting accessory activation, then surgical safety and precision are improved, but device complexity increases
Solution Approach 1:
The patent introduces a sensor as an intermediary component that mediates between the lever (user input) and the cutting accessory activation. The sensor detects lever position and converts it into an activator position signal, creating a controlled interface that prevents accidental activation while maintaining surgical precision. This intermediary mechanism resolves the contradiction by adding safety functionality without requiring direct complex mechanical linkages between the lever and cutting tool.
2Ease of operation
If manual operation capability is added to the end effector, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The end effector is designed with multi-functionality, capable of both automated robotic operation and manual control. The same cutting accessory and basic mechanism serve dual purposes: automated actuation through the robotic system and manual control through the lever-sensor-activator mechanism. This universality allows the device to switch between operation modes without requiring separate dedicated systems, thereby improving ease of operation while limiting the increase in device complexity.
3Measurement precision
If a lever-based activation mechanism is implemented, then precision control is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces direct mechanical linkage between the lever and cutting accessory with a sensor-based detection system. Instead of requiring precise mechanical positioning that would complicate the operation, the lever simply needs to be positioned within a detection range that the sensor can identify. The sensor then translates this positional information into activator movement, substituting complex mechanical precision requirements with more tolerant sensor-based detection, thereby improving precision control while maintaining ease of operation.
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 design enhances manual control over surgical cutting tools, preventing accidental activation and providing precise positioning and operation, thereby improving surgical precision and safety.
Implementation Method 1
a sensor coupled to the nose tube; and an activator moveable relative to the sensor between a first position and a second position in response to movement of the lever between the depressed position and the released position; and wherein, in response to the lever being in the depressed position, the activator is in the first position and the sensor is spaced from the activator by a first distance such that the sensor is configured to interact with the activator to cause activation of the actuator
Data Source
AI summary
An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The end effector may also comprise a guard releasably coupled to the cutting accessory for covering a portion of the cutting accessory. A first circuit may be mounted to one of the cutting accessory or the removable guard and a second circuit mounted to the nose tube such that the first circuit and the second circuit configured to communicate with each other when the cutting accessory is coupled to the end effector.