Robotic Surgical Tool Feedback for Tissue Grasping
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Solution Overview
Problem
Robotic surgical systems lack tactile feedback, making it difficult for surgeons to determine tissue thickness and staple sizes, as they cannot feel the physical force required to grasp tissue.
Innovation Solution
A method that calculates the work used to grasp tissue using a robotic surgical tool's motor and provides sensory feedback, such as auditory, tactile, or visual indicators, to the operator, mimicking the tactile feedback of manual surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic surgical systems are used to perform surgical procedures, then surgical precision and consistency are improved, but tactile feedback to the surgeon is lost
Solution Approach 1:
The system calculates work done by the motor to close the jaws and clamp down on tissue, then communicates this information back to the surgeon through effort indicators. This creates a feedback loop that restores tactile information about tissue properties and grasp force, allowing the surgeon to make informed decisions despite physical separation from the surgical site.
Solution Approach 2:
The computer system acts as an intermediary between the motor and the surgeon. It receives data from the motor about work completed, processes this information, and presents it to the surgeon through effort indicators. This intermediary transforms raw motor data into meaningful tactile feedback that the surgeon can interpret.
2Stability of the object's composition
If robotic manipulation is used to operate surgical tools, then surgical consistency is improved, but the surgeon's ability to feel physical force is reduced
Solution Approach 1:
The system provides real-time feedback about the work done by the motor through effort indicators, enabling the surgeon to perceive physical force characteristics remotely. This feedback mechanism compensates for the loss of direct tactile sensation while maintaining surgical consistency through robotic precision.
3Measurement precision
If motor actuation is used to close the jaws, then operational precision is improved, but direct tactile feedback is eliminated
Solution Approach 1:
The system measures the work completed by the motor with precision and communicates this information to the surgeon through effort indicators. This transforms the motor's precise measurements into tactile feedback that guides the surgeon's operations, combining machine precision with human decision-making.
Data Source
AI summary
A method includes grasping a user input device in communication with a surgical tool of a robotic surgical system, the surgical tool including an end effector with opposing jaws, squeezing the user input device and thereby actuating a motor that closes the jaws and clamps down on tissue at a surgical site, and calculating with a computer system in communication with the surgical tool work completed by the motor to close the jaws and clamp down on the tissue. The computer system generates one or more effort indicators when the work completed by the motor meets or exceeds one or more predetermined work increments corresponding to operation of the motor, and communicates the one or more effort indicators to an operator.