Soft Surgical Tools With Variable Stiffness Appendages
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Solution Overview
Problem
Mechanized surgical tools lack the tactile feedback and safety to prevent tissue damage during robotic surgical procedures, as they may perforate or tear tissue due to unconstrained movements.
Innovation Solution
Development of soft surgical tools with articulating appendages made from variable-stiffness polymers and elastomers, equipped with sensors for closed-loop control, that can be printed and actuated to conform to tissue shapes and provide atraumatic contact, allowing for selective exposure, grasping, and stabilization of tissues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If hard instruments are used for mechanized surgical procedures, then surgical precision and control are improved, but tissue damage risk increases due to unconstrained movements
Solution Approach 1:
The patent applies parameter changes by transitioning from rigid hard instruments to soft instruments with variable stiffness properties. The soft instruments can dynamically adjust their mechanical parameters (stiffness, compliance) to match tissue properties, enabling precise control while reducing tissue damage risk through controlled deformation rather than rigid contact
Solution Approach 2:
The patent employs flexible shells and thin films as the core structural element of the surgical instruments. These soft instrument bodies can conform to tissue surfaces, provide compliant contact that adapts to anatomical variations, and reduce the risk of perforation or tearing while maintaining surgical precision through controlled actuation
2Reliability
If soft surgical tools are developed to reduce tissue damage, then patient safety is improved, but surgical dexterity and control may be compromised
Solution Approach 1:
The patent applies dynamics by implementing soft instruments with variable stiffness characteristics that can be dynamically adjusted during surgical procedures. The instruments transition from compliant (safe for tissue) to stiffer (more controllable) states as needed, allowing the system to adapt its mechanical properties in real-time to balance safety and dexterity requirements
Solution Approach 2:
The patent employs composite materials combining soft elastomeric components with embedded rigid elements, sensors, and actuators. This composite structure enables the instrument to exhibit both soft compliant behavior for tissue safety and rigid controllable behavior for surgical precision, integrating multiple material properties within a single instrument system
3Adaptability or versatility
If custom appendages are printed for each surgical procedure, then adaptability to specific procedures is improved, but manufacturing complexity increases
Solution Approach 1:
The patent applies local quality by enabling customization of specific appendage properties (shape, size, stiffness distribution, sensor placement) for each surgical procedure while maintaining a standardized base platform. This allows procedure-specific adaptation through localized modifications rather than complete redesign, simplifying the manufacturing process
Solution Approach 2:
The patent employs preliminary action by pre-programming the soft instruments with embedded sensors and actuators during the additive manufacturing process. The appendages are pre-configured with their specific geometric and mechanical properties before surgery, allowing rapid deployment without complex post-manufacturing assembly or calibration
Data Source
AI summary
A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.