Robotic End Effector Jaw Control for Surgical Access Port Alignment
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Solution Overview
Problem
Minimally invasive surgical tools are difficult to manipulate and clean due to their small size and the need for protective gloves, which hinder efficiency during robotic surgical procedures.
Innovation Solution
The robotic surgical system uses positional and presence detection sensors to electromechanically adjust the distance between the jaws of the end effector, allowing for easy alignment and cleaning by opening or closing them based on proximity to the access port, facilitating quick removal and reinsertion of the tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If end effectors are made smaller to improve surgical precision, then manufacturing precision is improved, but ease of operation deteriorates due to difficulty in manipulation and cleaning
Solution Approach 1:
The end effector transitions from a static closed position during surgery to a dynamically opened position during cleaning. The system automatically adjusts the jaw position based on whether the instrument is inside or outside the access port, making the device adaptive to different operational phases and eliminating the need for manual reconfiguration.
Solution Approach 2:
The end effector automatically opens when the instrument is removed from the access port and closes when reinserted, without requiring manual intervention. This self-service mechanism eliminates the burden on surgical technicians to manually manipulate small components while wearing protective gear.
2Manufacturing precision
If end effectors are made smaller to improve surgical precision, then manufacturing precision is improved, but ease of operation deteriorates due to cleaning difficulty
Solution Approach 1:
The end effector dynamically changes its configuration based on operational context - remaining closed during surgical use for precision work, and automatically opening when outside the access port to facilitate cleaning. This dynamic behavior resolves the contradiction between maintaining small size for precision and enabling easy cleaning.
Solution Approach 2:
The system proactively opens the end effector jaws before the cleaning process begins by detecting when the instrument exits the access port. This preliminary action prepares the device for cleaning without requiring manual intervention, making the cleaning process more efficient and accessible.
3Ease of operation
If end effectors must be closed to pass through access port, then ease of operation during insertion is improved, but productivity deteriorates due to time required for closing and cleaning
Solution Approach 1:
The end effector automatically transitions between closed and open states based on its position relative to the access port. It closes when approaching the port for easy passage and opens when outside for cleaning, eliminating manual reconfiguration steps and improving overall productivity.
Solution Approach 2:
The system uses sensors to detect the position of the instrument relative to the access port and provides feedback control to automatically adjust the jaw position. This closed-loop control eliminates the need for manual monitoring and adjustment, streamlining both insertion and cleaning operations.
4Reliability
If surgical technicians wear protective gloves, then reliability is improved through protection, but ease of operation deteriorates due to reduced dexterity
Solution Approach 1:
The robotic system performs the delicate manipulation of opening and closing end effectors automatically without human hands. The surgical technician only needs to perform high-level monitoring and decision-making, while the robot handles the fine motor tasks that are difficult to perform with protective gloves.
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated robotic control system. Instead of relying on human dexterity through protective gloves, the system uses sensors and automated actuators to precisely control the end effector movements, maintaining reliability while overcoming the dexterity limitations imposed by protective gear.
Data Source
AI summary
A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.