Surgical Instrument Joint Zero Calibration Using Torque Critical Points
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Solution Overview
Problem
Surgical instruments face challenges in accurately determining mechanical zero position due to limitations in calibration methods, such as stiffness issues in drive chains and deformation, leading to decreased movement accuracy during operations.
Innovation Solution
A method and apparatus for mechanical zero position calibration that involves controlling an electric motor to move instrument joints in set directions, determining joint torque change information, and using critical point information to determine the electric motor position corresponding to the mechanical zero position, enabling automatic calibration without the need for external equipment or professionals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional concave and convex alignment mechanisms are used for calibration, then calibration can be performed at factory, but calibration cannot be performed on-site after leaving factory due to cleanliness requirements, space limitations and need for professionals
Solution Approach 1:
The patent implements self-service calibration by enabling the surgical instrument to perform its own zero position calibration using internally integrated sensors and processing units. The instrument autonomously detects its mechanical zero position through sensor data analysis without requiring external professional equipment or personnel, allowing calibration to be performed on-site at any time after leaving the factory.
Solution Approach 2:
The patent replaces traditional mechanical alignment mechanisms with an electronic sensing and processing system. Instead of using physical concave and convex alignment features that require external equipment, the system uses sensors to detect position information and a processing unit to calculate the mechanical zero position, enabling calibration without external professional equipment.
2Reliability
If surgical instruments are calibrated only once at factory, then initial calibration is performed, but movement accuracy decreases over time due to drive chain deformation and zero position deviation
Solution Approach 1:
The patent performs preliminary calibration action at the factory to establish the initial mechanical zero position. Additionally, it enables repeated preliminary calibration actions to be performed on-site before surgical operations, ensuring the instrument is recalibrated to account for any deformation that occurred during storage and transportation, thereby maintaining measurement precision.
Solution Approach 2:
The patent implements feedback by continuously monitoring the mechanical zero position using sensors and comparing it against expected values. When deviation is detected due to drive chain deformation, the system provides feedback that triggers recalibration, ensuring movement accuracy is maintained throughout the instrument's operational life.
3Measurement precision
If drive chain stiffness is poor and deformation occurs, then zero position deviates after leaving factory, but adding mechanical marks is difficult due to small instrument size
Solution Approach 1:
The patent replaces mechanical measurement markers with electronic sensors and computational methods. Instead of adding physical mechanical marks to the small surgical instrument, the system uses sensors to detect position information and a processing unit to calculate the mechanical zero position, maintaining measurement precision without increasing structural complexity.
Solution Approach 2:
The patent changes the measurement parameter from physical mechanical mark positions to sensor-detected position data. By using electrical and optical parameters instead of mechanical dimensions, the system achieves accurate zero position detection without requiring additional mechanical components on the small instrument.
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
This approach allows for precise calibration of surgical instruments' mechanical zero position, improving movement accuracy and enabling calibration at any time, regardless of site or equipment constraints, thus enhancing the effectiveness of surgical operations.
Implementation Method 1
determining joint torque change information corresponding to each set direction; determining critical point information, corresponding to each set direction, of the instrument joint on the basis of the joint torque change information
Data Source
AI summary
Disclosed in the embodiments of the present application are a mechanical zero position calibration method and apparatus, and a device and a medium. The method comprises: controlling a target electric motor to drive an instrument joint of a target instrument to respectively move in at least two set directions, and determining joint torque change information corresponding to each set direction; determining critical point information, corresponding to each set direction, of the instrument joint on the basis of the joint torque change information corresponding to each set direction; and determining, according to the critical point information corresponding to each set direction, an electric motor position corresponding to a mechanical zero position of the target instrument.