Surgical Instrument End Effector Homing With Articulation Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical instruments lack efficient mechanisms for articulating and resetting end effectors to precise positions, which can lead to difficulties in navigating complex surgical sites and ensuring accurate tissue manipulation.
Innovation Solution
The surgical instrument features a control system with a microcontroller and motor that allows for precise articulation and resetting of the end effector, utilizing a module for virtual detent and feedback mechanisms to alert the operator of the articulation home state position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual articulation methods are used, then device complexity is reduced, but articulation precision and reliability deteriorate
Solution Approach 1:
The patent implements a feedback mechanism where the control system receives signals from sensors detecting the end effector's position and orientation, compares these with the desired articulation state, and automatically adjusts the articulation to achieve precise positioning. This closed-loop control resolves the contradiction by maintaining high precision while managing complexity through automated feedback rather than manual adjustment.
Solution Approach 2:
The articulation system performs self-alignment and self-positioning through automated control algorithms that calculate and execute the necessary articulation adjustments without external intervention. The system serves itself by autonomously navigating to the correct articulation state based on sensor input and pre-programmed navigation logic, eliminating the need for complex manual manipulation mechanisms.
2Reliability
If automated control systems are added, then articulation reliability is improved, but ease of operation deteriorates
Solution Approach 1:
The patent introduces an intermediary control layer that sits between the operator and the articulation mechanism. This intermediary automatically translates simple operator commands into complex multi-step articulation sequences, providing reliable automated control while maintaining operational simplicity. The intermediary handles the complexity of coordination and timing, allowing the operator to issue high-level commands without managing individual articulation parameters.
3Manufacturing precision
If precise positioning mechanisms are implemented, then tissue manipulation accuracy is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical positioning mechanisms with a control system that uses sensors, processors, and actuators to achieve precise positioning. Instead of relying on mechanically complex cam mechanisms or precision gears, the system uses electronic control to calculate and execute positioning commands, substituting mechanical complexity with electronic control logic and software algorithms.
Data Source
Figure 1
Figure 2
Figure 3
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.