Surgical End Effector Homing With Feedback Articulation Control
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Solution Overview
Problem
Current surgical instruments face challenges in efficiently articulating and resetting end effectors to default positions, particularly in minimally invasive procedures, where precise control and minimal operator input are crucial for safe and effective tissue manipulation.
Innovation Solution
The surgical instrument incorporates a control system with a microcontroller and motorized articulation mechanism, allowing for precise articulation and automatic return to a home state position, facilitated by a user-friendly interface with switches and feedback mechanisms, enabling reliable and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motorized articulation mechanism with microcontroller is implemented, then articulation precision and automatic resetting capability are improved, but device complexity increases
Solution Approach 1:
The end effector system performs automatic resetting to its neutral position without requiring manual intervention. The microcontroller monitors the articulation state through feedback mechanisms and autonomously commands the motor to return the end effector to its default position, enabling the system to service itself and reduce operator workload.
Solution Approach 2:
The system incorporates feedback mechanisms that provide information about the articulation state of the end effector to the microcontroller. This feedback loop enables precise control by allowing the controller to monitor position and make adjustments to achieve accurate articulation and reliable resetting to the neutral position.
2Ease of operation
If automatic resetting function is added, then operator effort is reduced, but device complexity increases
Solution Approach 1:
The end effector system performs automatic resetting to its neutral position without requiring manual intervention. The microcontroller monitors the articulation state through feedback mechanisms and autonomously commands the motor to return the end effector to its default position, enabling the system to service itself and reduce operator workload.
Solution Approach 2:
The system is designed with a predetermined neutral position for the end effector. The microcontroller is programmed with the target position parameters in advance, allowing the automatic resetting function to reliably return the end effector to the correct starting position without requiring operator calculation or manual adjustment.
3Reliability
If precise control mechanism is implemented, then tissue manipulation safety is improved, but device complexity increases
Solution Approach 1:
The system incorporates feedback mechanisms that provide information about the articulation state of the end effector to the microcontroller. This feedback loop enables precise control by allowing the controller to monitor position and make adjustments to achieve accurate articulation and reliable resetting to the neutral position, enhancing safety during tissue manipulation.
Solution Approach 2:
The patent replaces manual mechanical control with an automated electromechanical system. The motorized articulation mechanism driven by the microcontroller substitutes for manual manipulation, providing more consistent and precise control over the end effector's position and movement, thereby improving reliability and safety.
Data Source
AI summary
A surgical instrument for use by an operator in a surgical procedure includes an elongate shaft, an end effector extending from the elongate shaft, and a control system. The end effector is articulatable relative to the elongate shaft between a home state position and an articulated position. The control system includes a processor and a memory coupled to the processor to store program instructions. The processor can alert the operator when the end effector reaches the home state position from the articulated position.