Robotic End Effector Locking via Proximity Sensing
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, affecting decision-making and control precision.
Innovation Solution
A robotic surgical system with a control circuit that determines the distance between an end effector and tissue, transitioning it between locked and unlocked configurations based on proximity, and utilizing advanced visualization systems like hyperspectral imaging and structured light to provide real-time depth and surface mapping, enabling precise control and avoidance of critical structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If conventional imaging systems are used to visualize the surgical site, then the system is simple and easy to operate, but the ability to recognize and convey concealed structures, physical contours, and dimensions is limited
Solution Approach 1:
The patent combines multiple imaging modalities (hyperspectral imaging, structured light imaging, and conventional video imaging) into a single integrated imaging system. This merging allows the system to capture both surface topology information and subsurface tissue characteristics simultaneously, resolving the contradiction by providing comprehensive visualization data while maintaining system integration.
Solution Approach 2:
The imaging system is designed to perform multiple functions: conventional video imaging for general visualization, hyperspectral imaging for tissue characterization and concealed structure detection, and structured light imaging for surface contour mapping. This multi-functionality enables the system to address various visualization needs without requiring separate dedicated systems.
2Ease of operation
If the end effector is kept unlocked for precise movement control, then the ease of operation is improved, but the safety and reliability are reduced due to risk of unintended movement
Solution Approach 1:
The end effector system dynamically transitions between locked and unlocked states based on real-time distance measurements to critical structures. When the end effector approaches a critical structure within a predefined safety threshold, the system automatically locks the end effector to prevent unintended movement. This dynamic control mechanism resolves the contradiction by providing ease of operation during normal surgery while ensuring safety when proximity to critical structures is detected.
Solution Approach 2:
The system continuously monitors the distance between the end effector and critical structures using imaging data and provides real-time feedback to the control system. This feedback loop enables automatic locking when safety thresholds are approached, resolving the contradiction between operational ease and surgical safety through closed-loop control.
3Reliability
If the end effector is locked for safety, then the reliability is improved, but the ease of operation deteriorates due to restricted movement
Solution Approach 1:
The locking mechanism is not static but dynamically activated only when the end effector approaches critical structures within safety thresholds. During normal surgical operations away from critical structures, the end effector remains unlocked and fully operable. This dynamic approach resolves the contradiction by providing safety assurance only when and where it is needed, without restricting overall operational ease.
Solution Approach 2:
The locking control is applied locally and selectively based on the spatial relationship between the end effector and critical structures. Rather than globally locking the end effector throughout the procedure, the system applies locking only in specific local regions where critical structures are present and proximity thresholds are violated, preserving operational freedom in other regions.
4Measurement precision
If advanced imaging systems with hyperspectral and structured light capabilities are implemented, then the measurement precision and information completeness are improved, but the device complexity and cost increase
Solution Approach 1:
The patent integrates hyperspectral imaging, structured light imaging, and conventional video imaging into a single unified imaging system with common optical paths and processing architecture. This merging approach enables high-precision measurement capabilities while avoiding the need for completely separate complex systems, thus resolving the contradiction between measurement precision and device complexity.
Data Source
AI summary
A robotic surgical system is disclosed including an end effector movable relative to a tissue of a patient. The robotic surgical system further includes a control circuit configured to determine a distance between the end effector and the tissue and cause the end effector to be transitioned between a locked configuration and an unlocked configuration based on the distance.