Robotic Surgical Tool with Manual Reversing for Force Control
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Solution Overview
Problem
Existing robotic surgical systems are limited in generating the magnitude of forces required to effectively cut and fasten tissue and are restricted in the number of different types of surgical devices they can operate.
Innovation Solution
A robotic surgical device with a manually-actuatable reversing system that integrates a tool drive assembly, a drive shaft assembly, and a manually-actuatable control system, allowing for both robotic and manual control of surgical end effectors to enhance cutting and fastening capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic surgical systems use automated control mechanisms, then surgical precision and consistency are improved, but the magnitude of forces required to cut and fasten tissue cannot be generated
Solution Approach 1:
The control system is segmented into two independent modes: automated robotic control for precision positioning and manual control for force generation. The robotic system handles delicate positioning tasks requiring precision, while the manual override mechanism handles tasks requiring high force output, allowing both precision and force capabilities to coexist without compromise
Solution Approach 2:
A manual control interface acts as an intermediary between the surgeon and the robotic system. This intermediary allows the surgeon to directly apply manual forces to the surgical instrument when high force is needed, while the robotic system continues to provide automated precision control for routine tasks, effectively bridging the gap between automated precision and manual force capability
2Reliability
If robotic surgical systems are designed for specific surgical tasks, then operational reliability is improved, but the number of different types of surgical devices that can be operated is limited
Solution Approach 1:
The robotic system is designed with universal interfaces and control mechanisms that can accommodate multiple types of surgical devices and end effectors. The standardized mounting interfaces and unified control architecture allow the system to reliably operate various surgical instruments including cutters, fasteners, and other surgical tools, enabling one robotic system to perform multiple surgical functions across different procedures
Solution Approach 2:
The system employs dynamic reconfiguration capabilities that allow it to adapt its configuration based on the specific surgical device being used. The robotic arm can dynamically adjust its degrees of freedom, end effector attachments, and control parameters to match the requirements of different surgical devices, maintaining operational reliability while enhancing versatility across device types
3Ease of operation
If robotic surgical systems use complex control mechanisms, then surgical dexterity is improved, but system complexity increases
Solution Approach 1:
The robotic system incorporates self-adjusting mechanisms that automatically optimize their own configuration based on the surgical task at hand. The system can autonomously adjust gripper forces, arm positioning, and tool orientation without requiring complex manual intervention, thereby maintaining high surgical dexterity while reducing the operational complexity burden on the surgeon
Data Source
AI summary
A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.