Robotic Surgical End Effector With Knife Position Sensing
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Solution Overview
Problem
Existing surgical instruments lack the ability to record operational conditions and provide user feedback during cutting and stapling operations, making failure analysis challenging and user acceptance of motor-driven instruments low.
Innovation Solution
Incorporation of sensors and a memory device in the surgical instrument to record the position and forces experienced by the end effector, along with a robotics system interface for feedback and data storage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors and memory devices are incorporated into the surgical instrument, then the ability to record operational conditions and provide user feedback is improved, but the device complexity increases
Solution Approach 1:
The patent incorporates sensors and memory devices into the surgical instrument before use, enabling automatic recording of operational conditions (position, force, temperature) during surgery. This preliminary integration allows comprehensive data collection for later failure analysis without adding complexity to the surgical procedure itself.
Solution Approach 2:
The patent implements feedback mechanisms where sensor data is processed and displayed to the user in real-time during surgical operations. This feedback loop provides the surgeon with information about instrument status, tissue forces, and operational parameters, enhancing control and understanding while systematically collecting data for reliability improvement.
2Manufacturing precision
If motor-driven mechanisms are used in surgical instruments, then the precision and control of cutting and stapling operations are improved, but the user acceptance decreases due to lack of feedback
Solution Approach 1:
The patent integrates multiple sensors (position sensors, force sensors, temperature sensors) that continuously monitor motor-driven operations and provide real-time feedback to the user through displays or haptic interfaces. This feedback restores the surgeon's situational awareness and control perception, directly addressing the acceptance issue while maintaining motor-driven precision.
Solution Approach 2:
The patent replaces traditional purely mechanical feedback mechanisms with electronic sensing and digital display systems. Electronic sensors detect position, force, and temperature parameters, converting them into digital signals for processing and presentation to the user, thereby providing more accurate and versatile feedback than mechanical systems alone.
3Measurement precision
If multiple sensors are integrated to record position and force data, then the measurement precision of operational conditions is improved, but the device complexity increases
Solution Approach 1:
The patent divides the measurement function into separate specialized sensors: position sensors for spatial tracking, force sensors for mechanical load measurement, and temperature sensors for thermal monitoring. Each sensor type is optimized for its specific measurement task, improving overall measurement precision while allowing modular integration that manages complexity through functional separation.
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
Facilitates failure analysis by recording operational conditions and provides user feedback, enhancing instrument reliability and physician acceptance.
Implementation Method 1
As the firing bar translates, the voltage across the sensor, or plurality of sensors, may vary. The sensor communicates the voltage output to the memory device; position may be determined from the varying voltage.
Implementation Method 2
The plurality of sensors may comprise two sensors positioned on an interior surface of an elongate channel; the first sensor may be positioned proximate to the translating magnetic element and the second sensor may be positioned distal to the translating magnetic element. As the magnetic element translates between the sensors, the sensors output a Hall Effect voltage
Data Source
AI summary
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.