Robotic Surgical Tool Drive for Multi-Function End Effector Motion
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Solution Overview
Problem
Traditional minimally invasive surgical instruments lack flexibility and intuitiveness, making it difficult for surgeons to perform precise movements due to the length of instruments and non-intuitive feedback, which hinders the effectiveness of robotic surgery systems.
Innovation Solution
A robotic surgical system with a tool driver that includes multiple motors and drive disks to simultaneously drive the end effector, allowing for various functions such as closing jaws, articulating, translating, and rotating, enhancing the dexterity and sensitivity of surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional minimally invasive surgical instruments are used, then the surgical procedure can be performed with small incisions, but the surgeon loses flexibility and intuitive control due to instrument length and non-intuitive feedback
Solution Approach 1:
The surgical instrument is divided into multiple segments including a modular shaft with multiple articulation segments that can independently move relative to each other. This segmentation allows the instrument to maintain a long overall length for minimal access while having controllable segments that provide flexibility and intuitive response to surgeon input, resolving the contradiction between length and ease of operation.
Solution Approach 2:
The instrument incorporates dynamic articulation capabilities where the shaft segments can change their relative positions and orientations in real-time based on surgeon control inputs. This dynamic behavior allows the instrument to adapt its configuration during surgery, providing both the length needed for minimal access and the flexibility/intuitiveness needed for precise control.
2Ease of operation
If traditional endoscopic instruments are used, then the surgical procedure can be performed remotely, but the coordination of end effector movement with visual feedback is difficult and non-intuitive
Solution Approach 1:
The system incorporates multiple feedback mechanisms including visual feedback from the endoscope showing real-time end effector position, haptic feedback providing tactile sensation of tissue forces on the end effector, and proprioceptive feedback from sensors measuring the actual position and orientation of instrument segments. This multi-sensory feedback loop restores intuitive coordination between surgeon input and end effector movement, resolving the information loss in remote surgery.
Solution Approach 2:
The control system integrates multiple feedback types (visual, haptic, proprioceptive) into a unified control interface that provides comprehensive situational awareness and intuitive control. This universal feedback approach allows the surgeon to coordinate end effector movement with visual feedback across different sensory modalities, improving the coordination and intuitive response despite remote operation.
3Adaptability or versatility
If robotic surgical systems with multiple motors and drive disks are used, then multiple functions can be performed with enhanced dexterity, but the device complexity increases
Solution Approach 1:
Multiple drive disks are combined onto a single shared motor shaft, with each drive disk independently driven by the same motor through selective engagement mechanisms. This merging approach allows multiple functions (articulation, rotation, end effector actuation) to be performed by a single motor, reducing the total motor count while maintaining versatility and dexterity, thus resolving the contradiction between adaptability and device complexity.
Solution Approach 2:
The robotic surgical system employs a universal drive architecture where a single motor can selectively drive multiple drive disks to perform different functions. This multi-functional design allows the system to achieve enhanced dexterity and versatility through software-controlled function allocation rather than through proportional increases in hardware complexity, resolving the contradiction between adaptability and device complexity.
Data Source
AI summary
Various exemplary methods, systems, and devices for causing end effector motion with a robotic surgical system are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include two motors configured to provide torque to the surgical tool to drive one single function of the surgical tool. In at least some embodiments, at least one of the two motors configured to cooperate with another motor to drive the single function of the surgical tool can be configured to drive a second function of the surgical tool.