Surgical Control System Haptic Feedback and Clamping Force
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Solution Overview
Problem
Electrically-powered surgical devices lack haptic feedback, impairing the user's ability to assess surgical functions such as cutting operations and clamping forces, compared to mechanically-powered devices.
Innovation Solution
A surgical system with a control system that variably controls clamping force and ultrasonic blade vibrations, including multiple control modes to ensure effective tissue treatment, such as gradually increasing clamping force, maintaining force during vibration, and varying vibration amplitudes, to enhance precision and reduce tissue sticking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If electrically-powered motors are used to actuate articulating features, then device automation and precision are improved, but haptic feedback is lost
Solution Approach 1:
The control system incorporates feedback mechanisms that provide the user with tactile or visual information about the state of the surgical device and tissue interaction forces, compensating for the loss of natural haptic feedback from mechanical linkages
Solution Approach 2:
An intermediary control system acts as a mediator between the user's input and the motorized actuator, translating user commands while providing simulated haptic feedback through force feedback mechanisms or visual displays
2Reliability
If clamping force is increased to ensure effective tissue treatment, then treatment reliability is improved, but tissue sticking and clamp pad damage increase
Solution Approach 1:
The control system dynamically adjusts the clamping force in real-time based on tissue characteristics and treatment progress, applying maximum force only when necessary and reducing it during ultrasonic vibration to prevent tissue sticking while maintaining treatment effectiveness
Solution Approach 2:
The system changes the clamping force parameter from a static high force to a variable force that adapts during the treatment cycle, switching between different force levels (Fmax, Fmin, Ftreat) based on the treatment phase and tissue response
3Reliability
If clamping time is extended to ensure effective treatment, then treatment reliability is improved, but tissue damage and sticking increase
Solution Approach 1:
The treatment protocol uses periodic cycles of high-force clamping followed by lower-force ultrasonic vibration phases, repeating these cycles to achieve effective treatment while allowing tissue to release periodically, preventing cumulative damage and sticking
Solution Approach 2:
The control system applies preliminary high clamping force to securely position and clamp the tissue before initiating ultrasonic vibration, ensuring proper tissue capture and alignment while minimizing the duration of high-force application
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 system provides improved haptic feedback and precision in tissue treatment, ensuring effective cutting and coagulation while minimizing tissue sticking and clamp pad damage.
Implementation Method 1
transmission of ultrasonic vibrations to the ultrasonic blade to coagulate and/or cut the tissue
Implementation Method 2
ultrasonic vibrations to the ultrasonic blade to coagulate and/or cut the tissue
Data Source
AI summary
Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.