Surgical End Effector Grip Control During Energy Delivery
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control systems for end effectors in teleoperated and robotic surgical instruments struggle to accurately and safely apply electrical and thermal energy during procedures like cauterization, ablation, and sealing, often resulting in inadequate energy transfer or damage due to excessive grip force or torque.
Innovation Solution
A system with control units that monitor and adjust the force or torque limits of end effector jaws, reducing them if necessary, and apply electrical or thermal energy through electrodes to ensure proper grip and energy delivery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector applies high grip force to securely hold the material, then the grip reliability is improved, but the material may be damaged due to excessive force
Solution Approach 1:
The system dynamically adjusts the grip force of the end effector based on real-time feedback from force sensors and energy delivery requirements. The control system modifies the grip force level during different phases of the procedure, transitioning from higher grip forces during positioning to lower forces during energy delivery, thereby maintaining reliability while preventing material damage.
Solution Approach 2:
The system changes the grip force parameter adaptively based on the operational phase and material characteristics. The control system monitors force sensor data and adjusts the grip force magnitude to match the specific requirements of each procedural step, ensuring optimal grip without excessive force that could damage the material.
2Stability of the object's composition
If the end effector applies high torque to securely grip the material, then the grip stability is improved, but the material may be damaged due to excessive torque
Solution Approach 1:
The system dynamically adjusts the grip torque based on real-time feedback from force sensors and procedural requirements. The control system modifies torque levels during different phases, maintaining high stability during positioning while reducing torque during energy delivery to prevent material damage.
Solution Approach 2:
The system adaptively changes the grip torque parameter based on operational phase and material characteristics. The control system monitors sensor data and adjusts torque magnitude to match specific procedural requirements, ensuring stability without excessive torque that could damage the material.
3Object-affected harmful factors
If the system reduces grip force to prevent material damage, then material safety is improved, but the grip reliability may be insufficient
Solution Approach 1:
The system employs real-time feedback from force sensors to monitor grip effectiveness and material response. The control system continuously adjusts grip force based on this feedback, ensuring sufficient grip reliability while preventing material damage. The feedback loop allows the system to maintain optimal grip force levels adapted to each specific procedural phase.
Solution Approach 2:
The system dynamically adjusts grip force levels based on real-time conditions and procedural phase. During positioning and clamping, higher forces are applied to ensure reliability, while during energy delivery, forces are reduced to prevent damage, with continuous adjustment based on sensor feedback maintaining both safety and reliability.
4Productivity
If the system applies electrical or thermal energy to the material, then the effectiveness of procedures like cauterization and sealing is improved, but the risk of tissue damage increases
Solution Approach 1:
The system employs real-time feedback from force sensors and energy delivery monitoring to control the application of electrical or thermal energy. The control system adjusts energy delivery parameters based on grip force measurements and procedural phase, ensuring effective cauterization and sealing while preventing tissue damage through continuous monitoring and adaptive control.
Solution Approach 2:
The system adaptively changes energy delivery parameters (such as power level, duration, and waveform) based on procedural phase and material response. The control system modifies these parameters in real-time to optimize procedure effectiveness while minimizing the risk of tissue damage, with different parameter sets applied during different stages of the procedure.
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
Enhances the precision and safety of energy delivery by maintaining optimal grip force and torque, improving the effectiveness of procedures such as cauterization, ablation, and sealing.
Implementation Method 1
apply electrical or thermal energy to the material using the electrodes
Implementation Method 2
apply electrical or thermal energy to the material using the electrodes
Data Source
Figure 1
Figure 2~4
Figure 3
AI summary
Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode, The systems and methods further include one or more control units configured to actuate the end effector to grip a material, determine whether a force or torque limit of the actuation is above a first threshold, in response to determining that the force or torque limit is above the first threshold, reduce the force or torque limit, and apply electrical or thermal energy to the material using the electrodes. In some embodiments, the one or more control units are further configured to restore the force or torque limit after application of the electrical or thermal energy to the material is complete. In some embodiments, the force or torque limit is reduced over time.