Surgical Access Port Length Detection via End Effector Torque
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Solution Overview
Problem
Current surgical robotic systems lack the ability to automatically identify and differentiate between standard and long surgical access ports, which affects the precision and efficiency of instrument insertion and calibration.
Innovation Solution
A software-based method is introduced that uses an end effector with pivotable joints and jaws to calibrate and determine the length of the access port by monitoring contact and torque changes, allowing for automatic identification of port types.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automatic port length detection is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The end effector performs self-calibration by automatically detecting port length through its own motor torque measurements and joint position data, eliminating the need for external measurement devices or manual intervention. The system uses the end effector's inherent capabilities to measure what it needs to know about the port configuration.
Solution Approach 2:
The patent replaces complex mechanical measurement devices with a software-based detection method that uses existing motor torque sensors and joint encoders. Instead of adding physical measurement hardware, the system uses computational algorithms to process data from existing components and determine port length automatically.
2Productivity
If manual calibration methods are used, then device complexity is reduced, but productivity decreases
Solution Approach 1:
The system performs calibration automatically during the instrument insertion process itself, before the surgical procedure begins. The end effector is advanced through the port during setup, and calibration data is collected in real-time, eliminating the need for separate manual calibration steps later during surgery.
Solution Approach 2:
The calibration process uses real-time feedback from motor torque sensors and joint position encoders to automatically adjust and determine the correct calibration parameters. The system continuously monitors the end effector's interaction with the port and uses this feedback to compute the port length and update calibration data automatically.
3Adaptability or versatility
If long ports are used, then adaptability is improved, but manufacturing precision requirements increase
Solution Approach 1:
The system dynamically adapts to different port lengths by automatically detecting the actual port configuration during instrument insertion. Instead of requiring precise manufacturing tolerances for each port type, the system measures the actual port length and adjusts calibration parameters accordingly, allowing the same end effector to work with varying port configurations.
Solution Approach 2:
The system changes calibration parameters based on the detected port length. By measuring the actual port configuration and adjusting the calibration data accordingly, the system allows the end effector to adapt to different port lengths without requiring different physical instruments or strict manufacturing tolerances for each port type.
Data Source
AI summary
A surgical robotic system is configured to determine access port length using an end effector of an instrument, which is inserted into a longitudinal tube of a surgical access port and calibrated at a first position. The end effector is then advanced to a second position, distal of the first position, within the longitudinal tube. Thereafter, a second calibration of the end effector is performed at the second position. During the second calibration, contact between the end effector and the longitudinal tube is monitored by a controller, which determines the length of the longitudinal tube based on the contact.