Instrument Feeder Engagement Control for Proper Shaft Loading
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Solution Overview
Problem
Improper use of medical devices during procedures can adversely affect patient health, device integrity, and procedure efficacy due to issues like improper loading and slack in elongate shafts.
Innovation Solution
A system comprising an instrument feeder device with an engagement assembly and control circuitry that determines the state of engagement based on force and position, intelligently controlling the actuation of the engagement assembly to ensure proper loading and manage slack in elongate shafts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive output actuates the engagement assembly without intelligent control, then the operation is simple, but improper loading and slack in elongate shafts can occur causing device damage and patient harm
Solution Approach 1:
The control circuitry receives feedback signals from sensors that detect the position and force applied by the drive output during actuation of the engagement assembly. This feedback enables the system to determine when the elongate shaft is properly loaded and when the engagement assembly should be actuated, ensuring reliable operation while maintaining controlled complexity through intelligent automation.
Solution Approach 2:
The engagement control system automatically determines the state of the engagement assembly and controls actuation without requiring manual intervention. The system self-regulates by monitoring force and position parameters, automatically preventing improper loading and slack conditions, thereby improving reliability while the automation manages the complexity internally.
2Measurement precision
If force thresholds are used to control engagement actuation, then proper engagement state can be determined, but the control system becomes more complex
Solution Approach 1:
The control circuitry monitors changes in force parameters applied by the drive output during actuation. By detecting specific force threshold crossings or force change patterns, the system precisely determines engagement states (engaged, disengaged, intermediate) without requiring complex multi-sensor systems, achieving accurate measurement with moderate control complexity.
3Measurement precision
If the system monitors both force and position, then engagement state determination is more accurate, but the system complexity increases
Solution Approach 1:
The control circuitry combines force and position monitoring into a unified engagement state determination system. By merging these two parameter streams, the system achieves high measurement precision for detecting engagement states, intermediate states, and improper loading conditions. The integrated approach manages complexity by processing both parameters through a single control logic framework rather than separate independent systems.
Data Source
AI summary
Systems, devices, and methods for controlling an instrument feeder device to engage with and/or control a medical instrument are discussed herein. For example, an instrument feeder device can be configured to couple to a drive output of a robotic arm and/or engage with an elongate shaft of a medical instrument. The drive output can be configured to control the engagement assembly to selectively engage with and/or retain the elongate shaft. A state of the engagement assembly can be determined based on an amount of force applied by the drive output, a position of the drive output, and/or other information.