Robotic Surgery End Effector With Dynamic Force Feedback
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Solution Overview
Problem
Current robotic surgery systems lack the precision and safety in performing spinal reconstructive surgeries, particularly in controlling force and motion during surgical procedures, which can lead to complications such as excessive force application or improper instrument alignment.
Innovation Solution
A surgical end effector system for robotic surgery that includes a fixed plate, a shaft, a sliding plate, a hub assembly, and pulleys with motors, allowing for precise control of rotary and axial motions, force feedback, and side-load detection to ensure safe and controlled instrument movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional robotic surgery systems are used for spinal reconstructive surgery, then basic surgical tasks can be performed, but precision and safety in controlling force and motion are insufficient leading to complications
Solution Approach 1:
The patent implements force feedback mechanisms through load cells and sensors that continuously monitor forces applied during surgery. This feedback is transmitted to the control system which adjusts robotic arm movements in real-time to prevent excessive force application, thereby improving both precision and safety simultaneously
Solution Approach 2:
The system employs dynamic control mechanisms that continuously adjust the robotic system's parameters during surgery. The control system modifies motion speeds, forces, and positions in real-time based on surgical conditions, enabling adaptive precision and safety control rather than static pre-programmed movements
2Reliability
If force feedback control is implemented, then safety and precision are improved, but device complexity increases
Solution Approach 1:
The control system serves multiple functions simultaneously: it processes force feedback from sensors, adjusts robotic arm movements, monitors surgical parameters, and prevents excessive forces. This multi-functionality consolidates what would otherwise require separate systems into a unified control architecture, managing complexity through integration
Solution Approach 2:
The patent introduces intermediary components such as load cells, sensors, and a central control system that mediate between the surgeon's commands and the robotic system's actions. These intermediaries translate complex force feedback into simplified control signals, managing system complexity through layered abstraction
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
The system enables precise and controlled surgical procedures by providing real-time force feedback and adjusting the feed rate, reducing the risk of complications and improving surgical accuracy and safety.
Implementation Method 1
a pulley that includes a driven wheel connected to the inner bearing operatively engaged with a motor, whereby rotation of the driven wheel drives rotation of the inner bearing
Implementation Method 2
a motor operatively engaged with the drive wheel to drive rotation thereof
Data Source
AI summary
An end effector of a robotic surgery system that includes a fixed plate for attaching an end of a robotic arm, a shaft extending from the fixed plate, a sliding plate moveable relative to the fixed plate along an axial direction of the shaft, a hub assembly mounted to the sliding plate and operatively engaged with the shaft. The hub assembly includes an idler hub, and an inner bearing moveable relative to the idler hub and operatively engaged with the shaft, whereby rotation of the inner bearing moves the sliding plate along the axial direction of the shaft. The end effector further includes a pulley that includes a driven wheel connected to the inner bearing operatively engaged with a motor, whereby rotation of the driven wheel drives rotation of the inner bearing.