Grasp Adjustment Based on End Effector Geometry
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Solution Overview
Problem
Minimally invasive surgical instruments with articulated arms face challenges in accurately adjusting force and torque for end effectors during procedures, as existing systems rely on pre-defined limits that do not account for varying material properties and insertion depths, leading to potential excessive force or inadequate grasp.
Innovation Solution
A computer-assisted device equipped with an image processing unit that analyzes imaging data to determine the position, orientation, and shape of the material being grasped, allowing for real-time adjustment of force and torque limits to optimize end effector performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If pre-defined force and torque limits are used for end effector control, then device complexity is reduced, but grasp accuracy and tissue safety deteriorate due to inability to account for varying material properties and insertion depths
Solution Approach 1:
The patent implements dynamic adjustment of force and torque limits based on real-time imaging data. The system continuously monitors material properties and insertion depth, then adapts the force limits accordingly. This transforms the static pre-defined limits into dynamic, context-aware control parameters, resolving the contradiction between simplicity and accuracy.
Solution Approach 2:
The system incorporates feedback loops where imaging data about the grasped material is continuously fed back to the control system. This feedback enables automatic adjustment of force and torque limits based on actual tissue properties and grasp conditions, improving grasp accuracy without requiring complex manual calibration.
2Ease of operation
If pre-defined force and torque limits are used, then ease of operation is improved, but tissue damage risk increases due to excessive force on delicate tissues
Solution Approach 1:
The system performs self-adjustment of force and torque limits based on its own imaging data. The control system automatically identifies tissue properties and sets appropriate safety limits without requiring operator intervention or prior knowledge of tissue characteristics, thereby preventing tissue damage while maintaining ease of operation.
Solution Approach 2:
The system performs preliminary analysis of imaging data before applying grasp force. By预先 determining material properties and setting appropriate force limits in advance, the system prevents excessive force application that could cause tissue damage, while still allowing the operator to use simple controls during the procedure.
3Measurement precision
If image processing and real-time adjustment systems are implemented, then grasp accuracy and tissue safety are improved, but device complexity and computational requirements increase
Solution Approach 1:
The imaging system serves multiple functions: it provides visual feedback to the operator, automatically determines material properties, calculates optimal force limits, and monitors grasp execution. By making the imaging system multi-functional, the patent reduces the need for separate specialized components, thereby improving accuracy without proportionally increasing overall system complexity.
4Object-affected harmful factors
If image processing and real-time adjustment systems are implemented, then tissue damage is minimized, but processing time and computational resources increase
Solution Approach 1:
The system performs image processing and force limit adjustment at periodic intervals rather than continuously. This periodic action is sufficient to detect changes in tissue properties and adjust forces appropriately, while avoiding the excessive processing time that would result from continuous real-time analysis at maximum computational intensity.
Data Source
AI summary
Techniques for grasp adjustment include a computer-assisted device comprising a repositionable structure configured to support an end effector and one or more processors. The one or more processors are configured to receive one or more images of the end effector; determine, based on the one or more images, at least one of a first length between a proximal end of jaws of the end effector and a proximal end of a grasping zone, a second length corresponding to a length of the grasping zone, a third length between a distal end of the grasping zone and the distal end of the at least one jaw; or an angle between the jaws of the end effector; and adjust a force or a torque magnitude limit used to limit actuation of the end effector based on at least one of the first length, the second length, the third length, or the angle.