Non-Circular Suturing Needle Control for Consistent Stitch Quality
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Solution Overview
Problem
Current surgical instruments face challenges in efficiently and accurately suturing tissues due to limitations in needle tracking and control, leading to variability in stitch quality and potential tissue damage from excessive force or speed.
Innovation Solution
The development of a surgical suturing instrument with an adaptive needle driving system and advanced sensing mechanisms, including resistive sensing circuits and needle sensing systems, that monitor needle position and speed, allowing for real-time adjustments to ensure consistent and precise suturing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional needle driving systems are used, then the instrument structure is simple, but the needle position and speed control precision is insufficient leading to variable stitch quality
Solution Approach 1:
The patent implements a feedback control system where sensors detect needle position and tissue characteristics in real-time, and the control system adjusts needle driving parameters accordingly. This closed-loop feedback mechanism ensures consistent stitch quality by continuously monitoring and correcting needle position and speed based on actual tissue conditions.
Solution Approach 2:
The needle driving system transitions from a static, fixed-speed mechanism to a dynamic system that can adjust needle speed and position in real-time. The system varies needle driving parameters based on detected tissue thickness, density, and other characteristics, enabling adaptive control that maintains optimal stitching performance across different tissue types.
2Object-affected harmful factors
If fixed needle speed is used, then the control system is simple, but tissue damage occurs due to excessive force or speed on varying tissue thickness
Solution Approach 1:
The system dynamically changes needle driving parameters including speed, force, and position based on real-time detection of tissue characteristics. The control system adjusts these parameters according to detected tissue thickness and density, preventing excessive force or speed that could cause tissue damage while optimizing stitching performance for each specific tissue condition.
Solution Approach 2:
The instrument performs self-adjustment by using its own sensors to detect tissue characteristics and automatically modifying needle driving parameters without external intervention. The system monitors its own performance and makes real-time corrections to prevent tissue damage, enabling autonomous adaptive control.
3Reliability
If basic needle tracking is used, then the sensing system is simple, but needle position accuracy is insufficient leading to potential instrument failure
Solution Approach 1:
The sensing system implements continuous feedback monitoring of needle position, speed, and tissue interaction forces. Multiple sensors provide real-time data to the control system, which compares actual needle trajectory against the planned path and makes corrective adjustments, ensuring high positioning accuracy and preventing instrument failure even in complex tissue geometries.
Solution Approach 2:
The sensing system is designed to perform multiple functions simultaneously: tracking needle position, detecting tissue characteristics, measuring interaction forces, and providing feedback for control adjustments. This multi-functional sensing approach enhances reliability without requiring separate dedicated systems for each measurement.
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 ensures precise needle control, adjusts for varying tissue thickness, and prevents tissue damage by monitoring and adapting needle speed and force in real-time, improving stitch quality and reducing the risk of instrument failure.
Implementation Method 1
resistive sensing circuits and needle sensing systems, that monitor needle position and speed
Data Source
AI summary
A surgical suturing system is disclosed. The surgical suturing system comprises a shaft comprising a shaft diameter, a firing drive, and an end effector extending distally from the shaft. The end effector comprises a needle track and a needle comprising suturing material attached thereto, wherein the needle is configured to be guided by the needle track and actuated by the firing drive through a firing stroke, and wherein the needle is movable along a needle path comprising a maximum capture width which is greater than the shaft diameter.