Modular Surgical Tool Wireless Transfer and Tracking
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Solution Overview
Problem
Traditional minimally invasive surgical instruments lack flexibility and dexterity, making it difficult for surgeons to intuitively operate and coordinate movements during robotic surgery, leading to inefficiencies and prolonged procedures due to the need for recalibration and reconfiguration of tool assemblies.
Innovation Solution
A modular surgical robotic system with wireless communication capabilities allows for seamless transfer of tool assemblies between robotic arms and manual use, maintaining continuous data communication and reducing the need for recalibration, featuring a tool driver with a battery-powered wireless interface and sensors for position tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional minimally invasive surgical instruments are used, then the surgical procedure can be performed through small incisions, but the surgeon loses flexibility and dexterity in tool placement and movement coordination
Solution Approach 1:
The surgical instrument is divided into multiple modular segments including a handle assembly, shaft, and end effector that can be independently controlled. The handle assembly includes separate control mechanisms for different degrees of freedom, allowing the surgeon to manipulate each segment independently to achieve complex motions at the end effector while maintaining intuitive control.
Solution Approach 2:
The instrument incorporates dynamic control capabilities where the handle assembly can be manipulated in multiple degrees of freedom and this motion is dynamically transmitted through the shaft to the end effector. The system provides real-time motion coordination and scaling to maintain intuitive surgical control while achieving enhanced dexterity at the tool tip.
2Ease of operation
If elongate endoscopic instruments are used to reach the surgical site, then access to deep abdominal cavity is achieved, but the surgeon's ability to feel forces exerted by tissues is reduced
Solution Approach 1:
The instrument incorporates force sensing capabilities in the handle assembly that detect forces exerted on the end effector during surgical manipulation. This tactile feedback is transmitted to the surgeon through the handle, allowing perception of tissue forces despite the length of the instrument. The feedback mechanism includes force sensors and control algorithms that amplify and transmit subtle force interactions to the surgeon's hands.
3Productivity
If fixed configuration tool assemblies are used, then system reliability is maintained, but procedure time increases due to recalibration and reconfiguration needs
Solution Approach 1:
The tool assembly is designed as a modular system with standardized interfaces between the handle assembly, shaft, and end effector. These modular components can be quickly exchanged during surgery without requiring recalibration, as each module maintains its calibration independently. The segmented design allows rapid reconfiguration while preserving system reliability through consistent interface specifications.
Solution Approach 2:
The handle assembly is designed with universal control capabilities that can operate with multiple different end effector types. The standardized interface and control architecture allow the same handle to control various surgical tools without requiring recalibration or reconfiguration, enabling rapid switching between different surgical instruments while maintaining system reliability and performance consistency.
4Adaptability or versatility
If wireless communication components are added to enable modular transfer, then tool flexibility and data continuity are improved, but device complexity increases
Solution Approach 1:
The system replaces physical wired connections with wireless communication interfaces for data transmission between the handle assembly, shaft, and end effector. This substitution enables modular components to be transferred and reconfigured without requiring physical cable connections, facilitating rapid tool changes and maintaining data continuity through wireless protocols while reducing mechanical complexity.
Data Source
AI summary
A robotic surgical arm includes a puck containing motors to drive an end effector. A tool assembly attached to the puck generates ultrasonic and/or radio frequency energy to apply to tissue disposed between the jaws of the end effector. The tool assembly can include modular components such as a modular shaft that can include an ultrasonic transducer, nonvolatile memory, wireless interface, and/or a power source. The power source allows the modular shaft to communicate wirelessly with the robotic arm. The tool assembly can be moved from one robotic arm to another while remaining powered by the power source. The tool assembly can include sensors to determine a location or movement of the tool assembly after being detached from the robotic surgical arm. The modular shaft can be moved from a robotic arm to a handle manually controlled by a surgeon and back again to the robotic arm.