Robotic Clip Applier Mode Switching to Prevent Premature Closure
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic surgical systems lack a mechanism to prevent premature closure of end effectors, such as clip appliers, which can lead to unintended deployment of surgical clips before reaching the target anatomical structure, resulting in inefficiency or failure to apply clips effectively.
Innovation Solution
Implementing a control module that transitions between a safe mode and a fire mode, where the safe mode restricts or prevents closure of end effectors until the end effector is within a sufficient proximity to the target anatomical structure, and the fire mode allows full closure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the end effector is allowed to close freely in response to user input, then the ease of operation is improved, but the reliability deteriorates due to premature closure before reaching the target anatomical structure
Solution Approach 1:
The system dynamically transitions between two operational modes: safe mode and fire mode. In safe mode, the end effector closure is restricted to prevent premature deployment. When the robotic arm reaches the target anatomical structure, the system switches to fire mode, enabling full closure functionality. This dynamic mode switching resolves the contradiction by adapting the system's operational characteristics to the surgical context.
Solution Approach 2:
The control module changes the operational parameters of the end effector based on the surgical phase. In safe mode, the closure parameter is restricted or prevented. In fire mode, the closure parameter is fully enabled. This parameter change allows the system to maintain ease of operation when needed while ensuring reliability during critical deployment phases.
2Reliability
If the safe mode restricts closure of the end effector, then the reliability is improved by preventing premature deployment, but the ease of operation worsens due to restricted control
Solution Approach 1:
The system transitions dynamically between safe mode and fire mode based on the surgical workflow. During approach and positioning, safe mode provides restricted control for reliability. When the target is reached, fire mode enables full control for ease of operation. This dynamic adaptation resolves the contradiction by providing the appropriate level of control restriction at the appropriate surgical phase.
Solution Approach 2:
The safe mode is activated preliminarily during the approach phase to prevent premature closure. The system prepares the surgical field and positions the robotic arm before enabling full closure capability. This preliminary restriction ensures reliability is maintained during critical positioning, then ease of operation is restored when deployment is intended.
3Productivity
If the system allows full closure capability, then the productivity is improved by enabling complete surgical functions, but the risk of unintended deployment increases
Solution Approach 1:
The system dynamically adjusts its operational state based on the surgical phase. Full closure capability is enabled in fire mode when the target is reached, maximizing productivity. During approach and positioning, safe mode restricts closure to prevent unintended deployment. This dynamic adjustment resolves the contradiction by enabling full functionality only when appropriate.
Solution Approach 2:
The control module acts as an intermediary between the user input and the end effector closure. It mediates the closure command by checking the operational mode: in safe mode, it blocks or restricts closure commands to prevent unintended deployment; in fire mode, it transmits full closure commands to enable productivity. This intermediary function resolves the contradiction by filtering commands appropriately.
Data Source
AI summary
An apparatus includes an instrument, a user input, and a control module. The instrument includes an end effector with first and second jaws that are operable to transition between a fully open position and a fully closed position. The control module is in communication with the instrument and the first user input. The control module is configured to transition between a safe operating mode and a fire operating mode. In the safe operating mode, the control module is configured to prevent or restrict closure of the first and second jaws in response to an activation signal from the first user input. In the fire operating mode, the control module is configured to generate a power drive signal that drives closure of the first and second jaws to the fully closed position.