Optical Tissue Grasp Sensing for Stable Endoscopic Jaw Control
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Solution Overview
Problem
Conventional mechanisms for sensing tissue manipulation during endoscopic procedures are inadequate due to the flexible and wet nature of tissue, making it difficult to determine the stability of tissue grip and provide effective feedback or automatic control.
Innovation Solution
A medical apparatus with an optical sensing module and image capture device integrated into a surgical instrument, utilizing optical flow and digital image correlation to process image data and provide feedback or control based on tissue movement and deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensing mechanisms are used, then device complexity is reduced, but measurement precision deteriorates due to the flexible and wet nature of tissue
Solution Approach 1:
The patent replaces conventional mechanical sensing mechanisms with an optical sensing system. An image capture device (camera) captures images of the tissue, and optical flow algorithms process these images to detect tissue movement and deformation. This substitution of mechanical sensors with optical sensing and computational analysis enables accurate tissue manipulation detection while accommodating the flexible and wet properties of biological tissues.
Solution Approach 2:
The patent introduces an intermediary optical field between the tissue and the sensing system. Instead of direct mechanical contact sensing, the system uses light as an intermediary to probe tissue movement. The image capture device records optical information from the tissue, and computational algorithms translate these optical changes into measurements of tissue manipulation, effectively using light as a mediator to sense tissue dynamics.
2Measurement precision
If optical sensing is implemented, then measurement precision improves for tissue manipulation, but device complexity increases due to integration of image capture and processing
Solution Approach 1:
The patent merges the image capture device, optical flow processing algorithms, and control system into an integrated sensing platform. The camera is positioned to capture images of the tissue in the gripping region, and the processing system combines multiple image frames to compute tissue movement and deformation. This merging of components creates a unified system that provides comprehensive tissue manipulation sensing despite the increased complexity of individual elements.
Solution Approach 2:
The optical sensing system serves multiple functions: it captures tissue images for visual feedback, processes images through optical flow algorithms to detect movement, measures deformation through digital image correlation, and provides data for control system adjustments. This multi-functionality justifies the increased device complexity by delivering comprehensive sensing capabilities that improve measurement precision across multiple parameters.
3Ease of operation
If visual feedback is provided, then ease of operation improves for surgeons, but loss of information increases due to processing requirements
Solution Approach 1:
The system performs preliminary processing of raw image data by computing optical flow and tissue deformation metrics before presenting information to the surgeon. The controller pre-calculates tissue movement vectors and deformation measures from captured images, transforming raw visual data into meaningful quantitative feedback. This preliminary action ensures that the surgeon receives processed, actionable information without losing critical tissue manipulation data during the feedback process.
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
Enables accurate determination of tissue manipulation and deformation, allowing for stable gripping control and improved surgical precision through visual, haptic, or automatic adjustments.
Implementation Method 1
The controller is programmed to process the received image data using at least one of optical flow and digital image correlation
Implementation Method 2
The controller is programmed to process the received image data using at least one of optical flow and digital image correlation
Data Source
AI summary
A method comprises grasping material between a pair of jaw members of a medical instrument; sensing light transmitted from the material grasped between the pair of jaw members to a location exterior to the pair of jaw members; and altering a grasping force exerted by the pair of jaw members on the material being grasped based on the sensing of the light transmitted.