Robotic Grasper Jaw Impedance Sensing for Suturing Force Control
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Solution Overview
Problem
Current surgical robotic systems lack the ability to provide sufficient haptic feedback during suturing, leading to potential tissue damage and inadequate control over gripping forces, especially when handling suturing needles, which can result in ischemia, necrosis, inflammation, and product failure.
Innovation Solution
A surgical robotic system with a grasper having electrically sensing jaws, isolated by an insulating material, and an impedance sensing device to measure electrical properties and angles, allowing the system to adjust gripping force based on whether it is grasping a metallic suturing needle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robotic systems use visual cues only to determine tissue compression and suture tension, then the system structure remains simple, but tissue damage occurs leading to ischemia, necrosis, and inflammation
Solution Approach 1:
The patent replaces visual inspection with electrical sensing to detect tissue compression and suture tension. The sensing element embedded in the grasper jaw generates electrical signals that change in response to mechanical contact with tissue or sutures, providing real-time feedback without requiring visual cues.
Solution Approach 2:
The patent introduces an electrical sensing element as an intermediary between the grasper jaw and the tissue/suture. This sensing element transduces mechanical interactions into electrical signals, allowing the system to detect the presence and state of tissue and sutures without direct visual observation.
2Ease of operation
If robotic systems use sound or vibratory alarm features to provide feedback, then some haptic information is provided, but cognitive load increases and reaction time is delayed
Solution Approach 1:
The patent implements self-service feedback where the sensing element embedded in the grasper jaw automatically detects tissue and suture contact and provides continuous electrical feedback signals. This eliminates the need for separate alarm systems and allows real-time detection without cognitive processing delays.
Solution Approach 2:
The patent establishes a closed-loop feedback system where the electrical sensing element continuously monitors mechanical interactions and provides real-time signals to the control system. This enables dynamic adjustment of gripping force based on actual tissue and suture conditions, eliminating reaction time delays.
3Device complexity
If robotic systems do not provide control over gripping force, then the system remains simple, but excessive loads are applied to sutures and mesh creating stress concentrations
Solution Approach 1:
The patent implements dynamic control of gripping force based on real-time electrical feedback from the sensing element. The system automatically adjusts the actuator force applied by the grasper jaw in response to detected tissue and suture conditions, preventing excessive loads while maintaining secure grip.
Solution Approach 2:
The patent uses electrical feedback signals from the sensing element to continuously monitor and control gripping force. When tissue or suture contact is detected, the system modulates actuator force to maintain appropriate pressure, preventing stress concentrations that lead to product failure.
4Adaptability or versatility
If robotic systems use insulating material to isolate jaws electrically, then electrical sensing is enabled, but device complexity increases
Solution Approach 1:
The patent makes the insulating material serve multiple functions: it provides electrical isolation between opposing jaws to enable sensing, maintains structural integrity of the grasper assembly, and can be integrated into the existing jaw design. This multi-functionality reduces overall system complexity despite adding sensing capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides precise control over gripping forces, preventing tissue damage and product failure by ensuring secure grasping of suturing needles and gentle manipulation of tissue, reducing the risk of ischemia and inflammation.
Implementation Method 1
an impedance sensing device having an electrical power source configured to measure electrical property of the jaws, e.g., continuity, conductivity, and/or impedance
Data Source
AI summary
A surgical robotic system includes a robotic arm having an instrument with a pair of opposing jaws configured for grasping, and an instrument drive unit configured to couple to and to actuate the instrument. The system also includes a surgeon console having a handle controller configured to control the robotic arm and the instrument. The system further includes a controller configured to: receive an electrical property of the opposing jaws; receive an angle of the opposing jaws; determine whether the opposing jaws are grasping a metallic object; and adjust a gripping force of the opposing jaws based on the determination.