Teleoperated Robotic Surgery Tendon Holding Procedure
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Solution Overview
Problem
In teleoperated robotic surgery systems, the elongation and recovery of tendons lead to uncontrollability and precision issues due to high elongation of polymer fibers, which are not adequately addressed by preloading processes, causing kinematic imbalances and performance degradation.
Innovation Solution
A method involving a holding procedure that maintains tendons in a tensile stressed state through alternating low and high forces to prevent relaxation and recovery, ensuring precise actuation and minimizing lost motion during teleoperation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If preloading processes are applied to tendons, then initial tensile state is achieved, but elongation recovery and kinematic imbalances persist
Solution Approach 1:
The patent applies preliminary action by performing a holding procedure before teleoperation begins, where the tendon is subjected to alternating low and high forces to pre-establish a stable tensile state and minimize recovery effects during actual surgical operations
Solution Approach 2:
The patent implements periodic action through the holding procedure that applies alternating low and high forces to the tendon over multiple cycles, which stabilizes the tensile state and prevents elongation recovery before teleoperation starts
2Volume of moving object
If polymer fibers are used for tendons, then miniaturization is enabled, but high elongation causes uncontrollability
Solution Approach 1:
The patent applies preliminary action by performing a holding procedure before teleoperation begins, where the tendon is subjected to alternating low and high forces to pre-establish a stable tensile state and minimize recovery effects during actual surgical operations
Solution Approach 2:
The patent changes the physical state parameters of the polymer tendon by applying controlled alternating forces, transforming the material behavior from highly elongatable to stabilized tensile state, thereby reducing uncontrollability while preserving miniaturization benefits
3Reliability
If holding procedure with alternating forces is applied, then tendon stability is improved, but operation time increases
Solution Approach 1:
The holding procedure is performed as a preliminary action before teleoperation begins, establishing tendon stability in advance so that during actual surgical operations the tendon remains stable without requiring continuous intervention
Solution Approach 2:
The patent ensures continuity of useful action by maintaining the stabilized tensile state of the tendon throughout the holding procedure through repeated alternating force cycles, ensuring stability is achieved and maintained efficiently
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
This approach stabilizes the surgical instrument's kinematic correspondence, maintains precision, and reduces tendon elongation, enhancing control and accuracy during teleoperation.
Implementation Method 1
A preload spring exerts an elastic action of influence to keep the tendons taut
Implementation Method 2
The permanent elongation deformation, as described above, can be achieved by a cord breaking-in procedure, performed prior to assembly on the instrument, which can comprise loading and unloading cycles and involve a plastic elongation deformation of the fibers themselves
Implementation Method 3
Viscous creep deformation under tensile load is a time-dependent effect which affects some types of intertwined cords when subject to fatigue and can be recoverable or non-recoverable typically depending on the intensity of the applied load
Data Source
AI summary
A method of teleoperation preparation in a teleoperated robotic surgery system is performed during a non-operating step. The applicable robotic system includes motorized actuators, and a surgical instrument. The surgical instrument includes an articulated end-effector having a degree/degrees of freedom. The surgical instrument includes a pair of antagonistic tendons, mounted in the surgical instrument operatively connected/connectable to the motorized actuators and to the respective end-effector links. The antagonistic tendons actuate degree/degrees of freedom associated therewith, between the degree/degrees of freedom thus determining antagonistic effects. The method includes establishing a univocal correlation motorized actuators' movements and articulated end-effector movements. A holding step includes tensile-stressing a pair of antagonistic tendons, and holding the tendons in a tensile-stressed state, by applying a holding force to the tendons, adapted to determine a loaded state of the tendons. A command is given to enter teleoperation. A corresponding teleoperated robotic surgery system performs the method.