Surgery Support Apparatus Sound Wave Depth Measurement
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Solution Overview
Problem
Existing laparoscopic surgery technologies face challenges in accurately measuring the movement of medical instruments in the major-axis direction due to factors like surface material and adhered substances, leading to measurement errors.
Innovation Solution
A surgery supporting apparatus that uses a combination of an inertia sensor and a sound wave sensor to measure the posture and insertion depth of medical instruments, employing phase difference measurement to determine the relative movement of the instrument, thereby reducing the influence of environmental disturbances and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a roller is used as the moving amount detection sensor to measure the moving amount of a medical instrument, then the measurement can be obtained, but a measurement error increases because the rotation is influenced by the diameter and surface material of the surgical instrument and the attaching state of a substance
Solution Approach 1:
The patent replaces the mechanical roller-based detection system with an optical detection system. Specifically, it uses a light source to emit light toward the medical instrument and a light receiver to detect the reflected light, measuring the movement based on optical principles rather than mechanical contact. This substitution eliminates the measurement errors caused by surface material variations and substance attachment that affect roller rotation.
2Measurement precision
If an optical displacement sensor is used to measure the insertion amount based on laser intensity change, then the movement can be measured, but a measurement error increases due to the surface material of the medical instrument and the state of a substance
Solution Approach 1:
The patent introduces a reflective marker as an intermediary element attached to the medical instrument. Instead of measuring light reflection directly from the instrument's surface (which varies with material and substance), the system measures the position of this standardized reflective marker. The marker provides a consistent, known reflection characteristic that eliminates the harmful effects of varying surface materials and substance states on measurement accuracy.
3Ease of operation
If sensors are installed in the trocar to measure manipulation, then control can be performed, but the measurement accuracy is reduced due to indirect measurement through the trocar interface
Solution Approach 1:
The patent divides the measurement system into separate functional components: the light source and light receiver are positioned in the trocar, while the reflective marker is attached to the medical instrument itself. This segmentation allows direct optical measurement of the instrument's movement without relying on mechanical sensors in the trocar, improving accuracy while maintaining ease of operation through optical rather than mechanical coupling.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables precise and accurate measurement of the movement in the major-axis direction of medical instruments, minimizing errors caused by surface materials and adhered substances, and allowing for effective control of robotic medical instruments during laparoscopic procedures.
Implementation Method 1
a sound wave transmitter 201 and a sound wave receiver 202 to oppose each other
Implementation Method 2
measuring a distance between the sound wave transmitter 201 and the sound wave receiver 202, which oppose each other, based on a phase difference between a transmitted sound wave signal and a received sound wave signal
Implementation Method 3
a combination of an inertia sensor and a sound wave sensor to measure the posture and insertion depth of medical instruments
Data Source
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AI summary
A surgery supporting apparatus capable of performing a manipulation using a surgical instrument (21) to be inserted into a body cavity, comprises measurement means (22) arranged to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement means is arranged to measure the insertion depth by measuring a sound wave propagating in a space between a transmitter (201) attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver (202) attached to the other.