Robotic Surgical Motor Torque Control
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Solution Overview
Problem
Current minimally invasive surgical instruments lack the flexibility, dexterity, and intuitive control, making it difficult for surgeons to perform procedures with precision and sensitivity due to the limitations of traditional endoscopic tools.
Innovation Solution
A robotic surgical system with a motor that utilizes a combination of permanent and rare earth magnets to create adjustable electromagnetic fields, allowing for a shiftable speed ratio and predictable torque delivery, enabling precise control of surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional minimally invasive surgical instruments are used, then the surgical procedure can be performed through small incisions, but the surgeon loses flexibility in tool placement and dexterity in manipulating the end effector
Solution Approach 1:
The patent replaces traditional mechanical endoscopic instruments with a robotic system that uses electric motors and electromagnetic fields to control surgical tools. The robotic arm with motorized end effector substitutes the direct mechanical manipulation of long endoscopic instruments, providing the surgeon with intuitive control while maintaining access through small incisions.
Solution Approach 2:
The robotic system acts as an intermediary between the surgeon and the surgical site. The master control device translates surgeon inputs into precise movements of the robotic arm and end effector, overcoming the loss of direct tactile feedback and manual control that occurs with traditional long endoscopic instruments.
2Productivity
If the speed of the motor is increased to improve productivity, then more surgical functions can be performed faster, but the torque delivery becomes unpredictable and control precision decreases
Solution Approach 1:
The patent implements a motor control system that dynamically adjusts operating parameters based on the surgical task requirements. The controller modulates motor speed and torque in real-time, allowing the system to optimize between speed and precision depending on whether the task requires rapid positioning or fine-controlled tissue manipulation.
Solution Approach 2:
The system changes motor operating parameters (speed, torque, electromagnetic field strength) based on the specific surgical function being performed. The controller adjusts these parameters to match the mechanical requirements of different surgical tasks, ensuring optimal performance and predictable torque delivery across the full speed range.
3Adaptability or versatility
If a shiftable speed ratio is implemented to improve adaptability, then the motor can operate at multiple speed levels, but the magnetic field control complexity increases
Solution Approach 1:
The patent designs the motor with a universal control system that manages multiple speed ratios and torque levels through a single integrated controller. The electromagnetic field control system serves multiple functions: it regulates motor speed, adjusts torque output, and coordinates the shiftable speed ratio, eliminating the need for separate control mechanisms for each function.
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 provides improved dexterity and intuitive control over surgical instruments, allowing for precise and efficient surgical procedures by adjusting torque and speed to match the requirements of different surgical functions.
Implementation Method 1
A plurality of permanent magnets are configured to create a permanent magnetic field
Implementation Method 2
A strength of the permanent magnetic field is configured to be selectively electromagnetically reinforced and dampened
Implementation Method 3
The motor is configured to drive a function of a surgical tool coupled to the robotic surgical system
Data Source
AI summary
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.