End Effector DOF Control Through Dual Engagement Members

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Solution Overview

Problem

Existing computer-assisted devices face challenges in efficiently controlling the movement and engagement of end effectors with sufficient dexterity for tasks such as minimally invasive surgery, particularly in managing the degrees of freedom and ensuring safe motion through access sites without causing tissue damage.

Innovation Solution

A computer-assisted device is equipped with a drive unit comprising first and second actuators, engagement members, and a control unit that actuates these components to manage the movement of end effectors in opposite directions, allowing precise control of degrees of freedom and safe motion through minimally invasive apertures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If multiple actuators are used to control end effector movement in multiple directions, then the dexterity and precision of the device is improved, but the device complexity increases

Engineering Contradiction:

Improvedexterity of end effector controlVSAvoidcomplexity of drive unit with multiple actuators

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The drive unit is segmented into multiple independent actuator systems, each responsible for controlling specific engagement members. This allows complex end effector movements to be broken down into manageable, independently controlled components, improving dexterity while organizing complexity into modular segments

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The multiple actuators are designed to perform multiple functions - each actuator can control different engagement members at different times, and the system as a whole can perform various surgical tasks through coordinated actuation of multiple engagement members, reducing the need for separate dedicated components

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Measurement precision

If engagement members are used to control degrees of freedom, then the precision of motion control is improved, but the device complexity increases

Engineering Contradiction:

Improveprecision of degree of freedom controlVSAvoidcomplexity of engagement member system

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

Engagement members serve as intermediary components between the actuators and the end effector. These intermediaries translate actuator movements into precise control of degrees of freedom, allowing complex motion control to be achieved through a layer of mediation rather than direct actuator-to-end effector connection

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The engagement members are nested within the instrument structure, with multiple engagement members positioned at different locations along the instrument shaft. This nested arrangement allows precise control of multiple degrees of freedom without requiring external complexity, as the control mechanisms are integrated within the instrument itself

Inventive Principle:

Principle #7Nested doll (Nesting)

3Object-affected harmful factors

If the end effector is moved through minimally invasive apertures, then the trauma to the patient is reduced, but the risk of tissue damage during movement increases

Engineering Contradiction:

Improvetrauma from surgical accessVSAvoidrisk of tissue damage during end effector movement

Core Design Contradiction:

Object-affected harmful factorsVSReliability

Solution Approach 1:

The drive unit and engagement members are designed to dynamically adjust their movement characteristics during insertion and operation. The system can adapt its motion profile to navigate through apertures safely, controlling speed and position to minimize tissue damage risk while maintaining the benefits of minimally invasive access

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control unit receives feedback from sensors monitoring the position and movement of engagement members and the end effector. This feedback allows the system to detect potential tissue contact or abnormal conditions during movement through the aperture and adjust its operation in real-time to prevent tissue damage, maintaining reliability while enabling minimally invasive access

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS12446982B2Systems and methods for control of end effectors

Publication Date: 2025.10.21 INTUITIVE SURGICAL OPERATIONS INC

AI summary

Techniques for controlling an end effector include a first engagement member coupled to a first actuator, a second engagement member coupled to a second actuator; and a control unit. The control unit is configured to engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom (DOF) of an end effector in a first direction; engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the DOF in a second direction opposite the first direction; actuate the DOF in the first direction to a first detectable position; actuate the DOF in the second direction to a second detectable position; and actuate the DOF to a third position between the first and second detectable positions.