Laparoscopic Instrument Grasp Control for Balanced Jaw Pinch Force
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Solution Overview
Problem
Existing laparoscopic surgical robots lack accurate force sensing capabilities, leading to potential tissue damage or slippage during surgery due to unequal pinch forces at instrument jaws, especially during three-dimensional maneuvers.
Innovation Solution
A method and system for controlling a laparoscopic instrument that adjusts the trigger force based on the pinch forces applied by both jaws and the pull force direction, using a three-zone grasp model to determine safe grasping limits and calculate an updated trigger force through a force model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system with multiple actuators is used to control a laparoscopic instrument, then the instrument can perform complex surgical tasks with high precision, but the system complexity and difficulty of control increase significantly
Solution Approach 1:
A control system acts as an intermediary between the surgeon's manual inputs and the multi-actuator robotic system. The control system receives signals from manual controls or pre-programmed instructions and automatically coordinates the multiple actuators to execute complex surgical tasks, thereby maintaining high precision while reducing the perceived complexity for the operator.
Solution Approach 2:
The robotic system is divided into multiple independent actuators, each controlled by a separate control channel. This segmentation allows the complex control task to be broken down into manageable individual control signals, making the overall system easier to operate despite its complexity.
2Adaptability or versatility
If multiple control channels are used to operate different actuators, then the instrument can perform more complex tasks, but the ease of operation decreases due to the increased number of controls
Solution Approach 1:
Multiple control channels are merged into a unified control interface that accepts single manual inputs and automatically distributes them to the appropriate actuators. This combining approach maintains the versatility of controlling multiple actuators while simplifying the operator's interface to a single easy-to-use control mechanism.
Solution Approach 2:
The control system automatically manages the coordination of multiple actuators without requiring manual intervention for each individual actuator. The system self-coordinates the control channels based on pre-programmed surgical tasks or high-level commands, reducing the operational burden on the surgeon.
3Measurement precision
If the distal end of the instrument can be positioned precisely at the target site, then surgical accuracy is improved, but the time required to achieve this positioning increases
Solution Approach 1:
The surgical instrument and robotic system are pre-programmed with target site coordinates and optimal positioning pathways before the surgical procedure begins. This preliminary preparation allows the system to quickly and accurately position the distal end at the target site without requiring time-consuming manual adjustments during the actual surgery.
Solution Approach 2:
Manual mechanical positioning is replaced with automated robotic positioning controlled by pre-programmed sequences. The robotic system uses automated control algorithms to calculate and execute the optimal positioning path, achieving both high precision and reduced positioning time compared to manual operation.
Data Source
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AI summary
A method for controlling a laparoscopic instrument. The method includes grasping a target utilizing the laparoscopic instrument by applying an initial trigger force to a trigger of the laparoscopic instrument, obtaining an updated trigger force based on a first pinch force, a second pinch force, and a state of the laparoscopic instrument, and grasping the target utilizing the laparoscopic instrument by applying the updated trigger force to the laparoscopic instrument. The first pinch force is applied to the target by an upper jaw of the laparoscopic instrument and the second pinch force is applied to the target by a lower jaw of the laparoscopic instrument.