Robotic Surgical Tool State Machine for Alternate Mode

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Solution Overview

Problem

Minimally invasive surgery is burdensome for surgeons due to the limitations of concurrently using only a few tools and the time-consuming process of tool changes, which can prolong surgical procedures and cause fatigue from manual control operations.

Innovation Solution

A robotic surgical system with a user interface that includes alternate sensing processes and a state machine to detect user inputs for entering and exiting alternate tool modes, allowing for efficient tool changes and reduced degrees of freedom during procedures, thereby enhancing surgical efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If multiple tools are used concurrently during minimally invasive surgery, then surgical efficiency is improved, but device complexity increases

Engineering Contradiction:

Improvesurgical efficiencyVSAvoiddevice complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The robotic surgical tool is designed with multiple functional modes (resection mode, coagulation mode, sealing mode) that can be activated through different sensing processes and state machine configurations, allowing a single tool to perform multiple surgical functions that would traditionally require separate tools

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If tool changes are performed during surgery, then the proper tool can be placed within the surgical site, but surgical time is extended

Engineering Contradiction:

Improvetool adaptabilityVSAvoidsurgical time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The robotic surgical tool incorporates multiple functional modes including resection, coagulation, and sealing capabilities within a single tool, eliminating the need for tool changes during surgery and reducing surgical time while maintaining adaptability to different surgical requirements

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The tool dynamically switches between different operational modes (resection, coagulation, sealing) based on user input and surgical conditions, allowing the same physical tool to adapt its function in real-time without requiring physical tool changes

Inventive Principle:

Principle #15Dynamics

3Measurement precision

If manual control operations are performed for long periods, then surgical precision can be maintained, but surgeon fatigue increases

Engineering Contradiction:

Improvesurgical precisionVSAvoidease of operation

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The robotic system incorporates automatic mode switching and state machine-based control that reduces the cognitive and manual burden on the surgeon by automating certain control decisions and tool configuration based on sensed conditions and predefined surgical protocols

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS9649174B2User interface with state machine for alternate tool mode for robotic surgical tools

Publication Date: 2017.05.16 INTUITIVE SURGICAL OPERATIONS INC

AI summary

In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.