Robotic Surgical Motor Torque Control
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Solution Overview
Problem
Current minimally invasive surgical instruments lack the flexibility, dexterity, and intuitive control that traditional open surgery provides, due to the limitations of small incisions and the length of endoscopic instruments, which complicates surgical procedures and reduces the surgeon's ability to feel tissue forces and coordinate movements accurately.
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 more precise and intuitive control of surgical tools by selectively reinforcing or dampening the magnetic field to manage torque and speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If traditional minimally invasive surgical instruments are used, then small incisions can be made to access the surgical site, but the surgeon loses the flexibility of tool placement and dexterity found in open surgery
Solution Approach 1:
The patent replaces direct mechanical manipulation of surgical tools through small incisions with a robotic system controlled by master control devices. The robotic arm substitutes for the surgeon's hand, providing enhanced dexterity and tool placement flexibility while maintaining minimal incision sizes. The robotic control system translates intuitive master device movements into precise end effector actions, resolving the contradiction between small incisions and operational flexibility.
2Length of moving object
If endoscopic instruments with added length are used, then access to deep surgical sites is achieved, but the surgeon's ability to feel forces exerted by tissues and organs on the end effector is reduced
Solution Approach 1:
The robotic system incorporates tactile feedback mechanisms that transmit forces from the end effector back to the surgeon through the robotic control system. This feedback loop allows the surgeon to perceive tissue forces despite the extended instrument length, maintaining the sense of connection between the surgeon's hand and the surgical site while achieving deep tissue access through the elongated robotic arm.
3Extent of automation
If master control devices are used to control motion of remotely controlled instruments, then the surgeon can perform procedures at a remote location, but coordination of end effector movement with visual display becomes difficult
Solution Approach 1:
The system replaces direct manual coordination between master control devices and visual display with an automated robotic control system. The robotic arm substitutes for the manual coordination chain, translating intuitive master device movements into precise end effector actions that automatically correspond with the visual display. This automated substitution eliminates the coordination difficulty while maintaining remote procedural capability.
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 enhances surgical precision and control by providing a consistent and adjustable torque, allowing for efficient and predictable motor performance, which improves the surgeon's ability to perform complex procedures with greater dexterity and sensitivity.
Implementation Method 1
A robotic surgical system with a motor that utilizes a combination of permanent and rare earth magnets to create adjustable electromagnetic fields
Implementation Method 2
The motor includes a first electromagnetic field and a second electromagnetic field that interacts with the first electromagnetic field
Data Source
AI summary
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.