Endocutter Cutline Detection With Firing-Force Feedback
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Solution Overview
Problem
Existing endoscopic surgical staplers face challenges in maximizing the cutline length and ensuring complete staple deployment without the need for tool characterization or additional sensors, while avoiding instrument damage and ensuring precise cutline termination.
Innovation Solution
An algorithm using proximal cutting edge and firing force information, combined with motor control, detects the end of the cutline without sensors, by decelerating the motor and building data to project future forces, ensuring accurate cutline termination and staple deployment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cutline length is maximized to ensure complete staple deployment, then the productivity is improved, but the risk of instrument damage and loss of reliability increases
Solution Approach 1:
The system performs preliminary characterization of the firing mechanism to establish the relationship between motor displacement and cutting edge travel distance before the actual cutting operation. This pre-established relationship allows the control system to predict when the cutting edge will reach the end of the cartridge, enabling the motor to decelerate in advance and prevent damaging impacts while maximizing the cutline length.
2Measurement precision
If sensors are added to detect the end of cutline, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The system uses existing motor control and position information to detect the end of the cutline without requiring additional sensors. By monitoring the relationship between motor displacement and cutting edge travel distance, the system self-determines when the cutting edge approaches the end of the cartridge, eliminating the need for external detection devices while maintaining high measurement precision.
Solution Approach 2:
The control system continuously monitors the position of the cutting edge relative to the cartridge end and provides feedback to the motor controller. This feedback loop enables real-time adjustment of motor speed and position, allowing precise detection of the end of cutline condition and automatic deceleration to prevent instrument damage.
3Productivity
If the motor speed is maintained at high rate to complete the cutline quickly, then the productivity is improved, but the manufacturing precision of cutline length deteriorates
Solution Approach 1:
The system dynamically adjusts the motor speed based on the real-time position of the cutting edge. During the majority of the cutting stroke, the motor operates at high speed to maximize productivity. As the cutting edge approaches the end of the cartridge (within a predetermined distance), the control system automatically reduces motor speed to a lower rate, ensuring precise termination of the cutline at the correct location while maintaining overall efficiency.
Data Source
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AI summary
A surgical stapler instrument drive system which indirectly maximizes the allowed/allotted cutline length of a staple cartridge, and associated staple deployment, with a reduced excess cutting force at the end thereof.