Computer-Assisted End Effector Grasping Control
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Solution Overview
Problem
In computer-assisted devices with end effectors, it is challenging for operators to directly monitor the end effector and energy delivery to materials due to their remote operation, which can hinder successful procedures, especially when other device components or materials obstruct the view.
Innovation Solution
A computer-assisted device equipped with an end effector featuring a first jaw, a second jaw, and a plurality of electrodes, where processors grasp materials, determine grasp and material characteristics, and control the grasp and energy delivery based on these characteristics to ensure precise operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If remote operation of end effectors is used, then operator safety and procedural precision are improved, but direct monitoring of end effector and energy delivery becomes difficult due to obstructions
Solution Approach 1:
The system incorporates sensors within the end effector that detect material characteristics and energy delivery parameters, transmitting this feedback to the operator console. This enables real-time monitoring of grasping force, material response, and energy delivery effectiveness, allowing the operator to adjust parameters based on actual conditions despite remote operation and potential obstructions.
Solution Approach 2:
The patent introduces an intermediary communication system between the end effector and the operator console, using sensors and signal transmission to bridge the monitoring gap. This intermediary layer conveys critical information about end effector operation and material interaction back to the operator, resolving the information loss caused by remote operation.
2Length of moving object
If end effector size is minimized, then accessibility to remote surgical sites is improved, but control precision and stability of grasping and energy delivery deteriorates
Solution Approach 1:
The end effector employs dynamic control mechanisms including adjustable grasp force, variable energy delivery intensity, and real-time position compensation. The system can adapt its parameters on-the-fly to maintain precision despite the reduced size and increased flexibility of the miniaturized structure.
Solution Approach 2:
The patent replaces traditional mechanical control systems with electronically actuated mechanisms, using motors, solenoids, or piezoelectric actuators to control jaw movement and energy delivery. This substitution enables finer control resolution and more precise positioning compared to conventional mechanical linkages, achieving high precision in miniaturized end effectors.
3Manufacturing precision
If automated control is implemented, then operational precision and consistency are improved, but device complexity and initial operational difficulty increase
Solution Approach 1:
The control system is divided into modular functional units: sensors for detection, microcontroller for processing, actuators for mechanical control, and energy delivery subsystem. Each module operates semi-independently with standardized interfaces, making the overall complex system more manageable and easier to implement while maintaining automated precision.
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 enables automated control of end effectors, improving the ability to successfully perform procedures by enhancing the precision and effectiveness of grasping and energy delivery, even in scenarios where direct monitoring is obstructed.
Implementation Method 1
a plurality of electrodes for delivering energy
Data Source
AI summary
Systems and methods of controlled grasping and energy delivery include a computer-assisted device. The computer-assisted device includes an end effector and one or more processors. The end effector includes a first jaw, a second jaw, and a plurality of electrodes for delivering energy. The one or more processors are configured to grasp a material using the first jaw and the second jaw, determine characteristics of the grasp, determine characteristics of the material, and control one or more of the grasp or energy delivery by the plurality of electrodes based on the determined characteristics of the grasp and the determined characteristics of the material. According to some embodiments, the characteristics of the material include one or more of thermal, dielectric, or stiffness of the material. In some embodiments, the characteristics of the grasp include one or more of applied pressure, jaw angle, jaw separation, force, torque, or wrist articulation.