Robotic Instrument Feeder Control for Position-Based Shaft Retraction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic medical procedures face challenges in efficiently controlling the axial movement of shaft-type instruments, particularly during procedures like ureteroscopy, to prevent tissue damage and ensure precise extraction of objects such as kidney stones, while requiring manual monitoring and coordination between multiple technicians.
Innovation Solution
Implementing robotic systems with instrument feeders that automatically control axial movement based on the position of the instrument, including automatic pause and speed modification, using position determination and electromagnetic field generators to enhance precision and safety during procedures like ureteroscopy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual monitoring and coordination is used to control instrument movement, then operators can monitor instrument position, but procedural efficiency is reduced and tissue damage risk increases due to coordination delays
Solution Approach 1:
The instrument feeder system automatically determines instrument position using electromagnetic field generators and sensors, then autonomously adjusts axial movement speed and pauses without requiring manual coordination between multiple technicians. The system monitors its own state and makes real-time control decisions, eliminating the need for human operators to continuously monitor and coordinate movements, thereby improving both efficiency and safety
Solution Approach 2:
The patent replaces manual mechanical control and monitoring with an automated electromagnetic field-based positioning system. Electromagnetic field generators create detectable fields that track instrument position, and this data feeds into automatic control algorithms that adjust the feeder mechanism, substituting human coordination with an electronic control system that responds instantaneously to position changes
2Measurement precision
If automated position-based control is implemented, then procedural efficiency and precision are improved, but device complexity increases due to electromagnetic field generators and position determination systems
Solution Approach 1:
The electromagnetic field generators serve multiple functions: they enable position determination of the instrument, provide real-time feedback for speed control, and facilitate automatic pause decisions. This multi-functionality reduces the need for separate sensing and control systems, thereby limiting the increase in overall device complexity while achieving high measurement precision
Solution Approach 2:
The electromagnetic field acts as an intermediary between the instrument and the control system. Rather than requiring direct mechanical linkages or complex optical systems, the field provides a simple means of transmitting position information from the instrument location to the control algorithm, simplifying the overall system architecture while maintaining high precision
3Reliability
If automatic speed modification is used during instrument extraction, then extraction precision is improved and tissue damage risk is reduced, but control system complexity increases
Solution Approach 1:
The control system dynamically adjusts the axial movement speed based on real-time instrument position and extracted object location. The system transitions between different speed states (normal speed, reduced speed, pause) according to the operational phase, enabling precise control during critical extraction moments while maintaining simplicity through rule-based speed modulation rather than complex continuous control
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
Enhances procedural efficiency and safety by allowing precise control over instrument movement, reducing the risk of tissue damage and improving the ability to extract multiple stone fragments without manual intervention.
Implementation Method 1
an electromagnetic field generator configured to generate an electromagnetic field
Data Source
AI summary
A robotic system includes a medical instrument comprising an elongate shaft dimensioned to be disposed at least partially within an access sheath and control circuitry configured to cause the elongate shaft to be retracted at least partially within the access sheath, determine a position of a distal end of the elongate shaft relative to the access sheath, and modify a speed of retraction of the elongate shaft based on the determined position of the distal end of the elongate shaft relative to the access sheath.