Medical System Angular Adjustment End Effector Control
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Solution Overview
Problem
Laparoscopic surgery faces challenges with limited visibility and operability of medical instruments due to difficulties in angular adjustment of end effectors during in vivo treatments, requiring improved control and precision for medical tools like forceps and endoscopes.
Innovation Solution
A medical system comprising a slave medical treatment tool with a moving joint and driver, a master medical instrument, and sensors to detect angles and positions, allowing for follow-up processing to align and control the slave tool's end effector with the master tool's end effector, enhancing operability and precision through sensor signals and a controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If laparoscopic surgery is performed with medical instruments inserted through trocar, then the invasiveness to patient is reduced, but the visibility and operability of medical instruments deteriorate
Solution Approach 1:
The system creates a virtual copy of the physical medical instrument by generating a three-dimensional model based on sensor data from the actual instrument. This virtual model is displayed on a screen to provide enhanced visibility of the instrument's position, orientation, and movement within the patient's body, thereby improving operability while maintaining the minimally invasive approach
Solution Approach 2:
The system introduces an intermediary virtual representation between the practitioner and the physical medical instrument. This virtual model acts as a mediator that translates complex spatial relationships and instrument states into comprehensible visual information, enhancing the practitioner's ability to control and monitor the instrument without increasing physical invasiveness
2Area of stationary object
If medical instruments are inserted through trocar for laparoscopic surgery, then the size of body surface incision is reduced, but the visibility of endoscope and operability of medical instruments deteriorate
Solution Approach 1:
A virtual three-dimensional model of the medical instrument is generated and displayed on a screen based on sensor data from the actual instrument. This virtual copy provides enhanced visibility of the instrument's position, orientation, and movement, compensating for the limited visibility imposed by the small incision size
Solution Approach 2:
The system transitions from two-dimensional screen display to three-dimensional virtual modeling, creating a more realistic and comprehensive representation of the medical instrument's spatial configuration and movement within the patient's body, thereby improving visibility and operability
3Manufacturing precision
If angular adjustment of end effector is required during in vivo treatment, then the precision of treatment is improved, but the complexity of instrument control increases
Solution Approach 1:
The system continuously monitors the actual position and orientation of the medical instrument using sensors and provides real-time feedback through the virtual three-dimensional model displayed on the screen. This feedback mechanism enables precise angular adjustment of the end effector while simplifying control by providing the practitioner with intuitive visual information about the instrument's state
Solution Approach 2:
The virtual three-dimensional model serves as a simplified representation that mirrors the complex physical instrument's state. By controlling and monitoring the virtual model, the practitioner can achieve precise angular adjustment without directly managing the complexity of the physical instrument's control mechanisms
Data Source
AI summary
The object of the invention is to automatically adjust the angle of an end effector to improve on the operability of medical treatment tools.The medical system of the invention comprises a slave medical treatment tool to be controlled and including a moving joint for adjusting the angle of a first end effector relative to a first shaft; a master medical instrument serving as a master control instrument and including a second end effector located at a distal end of a second shaft; a sensor that produces a sensor signal including at least an angle of the second end effector; and a controller that enables follow-up processing for driving a driver such that the angle of the first end effector follows a follow-up criterion set on the basis of a sensor signal produced out of the sensor.