Robotic Clip Applier Attachments to Cut Surgical Exchange Time
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Solution Overview
Problem
Surgical robotic systems face inefficiencies due to the time-consuming process of exchanging instruments during surgical procedures.
Innovation Solution
A surgical robotic system with a robotic arm configured to couple to and actuate a multi-purpose clip applier tool that can apply clips and operate with a plurality of attachments, including a grasper tool and a clip removal tool, utilizing a processor to identify and control the appropriate software controller based on the engaged attachment type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple separate instruments are used for different surgical functions, then each instrument can be optimized for its specific function, but the time required for instrument exchange increases
Solution Approach 1:
The robotic end effector is designed as a universal platform that can perform multiple surgical functions through different attachments. The base end effector includes a standardized interface that accepts various surgical attachments (clips, graspers, cutters, etc.), allowing a single robotic arm to perform diverse surgical tasks without requiring separate dedicated instruments for each function.
Solution Approach 2:
The surgical instrument system is divided into modular components: a base end effector with a standardized interface and interchangeable surgical attachments. This segmentation allows the robotic arm to maintain a consistent structure while changing functions by simply exchanging the attachment module, reducing the need for complete instrument replacement.
2Productivity
If a single multi-purpose instrument is used for all surgical functions, then instrument exchange is minimized, but the complexity of controlling different functions increases
Solution Approach 1:
The system incorporates sensors (such as torque sensors, position sensors, or image sensors) that detect the type of surgical attachment engaged and provide feedback to the control system. This feedback enables the controller to automatically select the appropriate control parameters and software mode for the specific attachment, simplifying the control process despite the multi-functionality.
Solution Approach 2:
The control system is designed to be dynamic and adaptable, automatically adjusting control parameters based on the detected attachment type. The system can switch between different control modes (e.g., force control for clips, position control for graspers) depending on the engaged attachment, making the complexity manageable through intelligent automation.
3Adaptability or versatility
If the robotic arm is designed to accommodate multiple attachments, then versatility is improved, but the structural complexity of the end effector increases
Solution Approach 1:
A standardized interface mechanism is implemented in the base end effector that can accommodate multiple types of surgical attachments through a unified coupling system. This standardized interface simplifies the structural design by providing a single reusable connection mechanism that works with all attachments, rather than requiring separate specialized interfaces for each attachment type.
Data Source
AI summary
A surgical robotic system includes a robotic arm having an instrument drive unit with at least one motor. The system also includes an instrument configured to couple to the instrument drive unit and to be actuated by the at least one motor. The instrument also includes an end effector having a pair of opposing jaws movable relative to each other. The end effector is further configured to engage a surgical attachment of a plurality of surgical attachments, which include a surgical clip, a grasper attachment, and a clip remover attachment. The system further includes a processor and a non-transitory computer readable medium storing a plurality of software controllers and instructions which. when executed by the processor, cause the processor to: identify a type of the surgical attachment engaged by the end effector and load a software controller of the stored plurality of software controllers based on the type of the surgical attachment engaged by the end effector. The software controller includes at least one parameter for controlling the instrument drive unit in a manner specific to the type of the surgical attachment engaged by the end effector.