Robotic Surgical Tool Control via Force Sensing and Motor Current
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Solution Overview
Problem
Robotic surgical systems face challenges in efficiently and accurately controlling robotic arms during surgical procedures, particularly in coordinating forces to avoid tissue trauma and ensuring precise tool activation based on real-time sensory data, which can lead to inefficiencies and potential complications.
Innovation Solution
The implementation of a control system that utilizes sensors to monitor forces applied by robotic arms and adjust movements accordingly, combined with automatic activation modes for surgical tools based on sensory feedback, to ensure precise control and minimize tissue trauma.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic arms are used to perform surgical procedures, then precision and control are improved, but the risk of tissue trauma increases due to coordination difficulties between multiple robotic arms
Solution Approach 1:
The control system continuously receives sensory data from sensors monitoring forces applied by robotic arms and adjusts movements in real-time. The control circuit receives force data from sensors and adjusts control signals to maintain forces within safe thresholds, preventing tissue trauma while preserving surgical precision.
Solution Approach 2:
The system integrates multiple sensing modalities (force sensors, position sensors, and other sensory data) to create a composite control strategy that coordinates multiple robotic arms. This composite approach allows the system to manage the complexity of multiple arms while preventing harmful interactions with tissue.
2Measurement precision
If multiple sensors are used to monitor forces and sensory data, then control precision is improved, but device complexity increases
Solution Approach 1:
The control circuit serves multiple functions: it receives control signals from the control system, receives force data from sensors, compares forces to predetermined thresholds, and sends control signals to robotic arms. This multi-functional approach consolidates complexity into a single integrated control unit rather than requiring separate systems for each function.
Solution Approach 2:
The patent combines force sensors, position sensors, and other sensory data into a unified sensing and control architecture. The control system integrates multiple data streams and coordinates multiple robotic arms through a single control circuit, reducing overall system complexity while maintaining high measurement precision.
3Productivity
If automatic activation modes are implemented based on sensory feedback, then operational efficiency is improved, but the extent of automation increases system complexity
Solution Approach 1:
The control system automatically activates surgical tools based on sensory feedback without requiring constant surgeon intervention. The control circuit autonomously determines when to activate tools by monitoring force data and comparing it to predetermined thresholds, allowing the system to serve itself in decision-making while maintaining surgical efficiency.
Solution Approach 2:
The system is pre-configured with predetermined force thresholds and activation criteria before the surgical procedure begins. This preliminary setup allows the automatic activation mode to function efficiently during surgery without requiring complex real-time decision-making, as the decision logic has already been established.
Data Source
AI summary
A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).