Surgical Robotic End Effector Aperture Control to Prevent Tissue Tearing
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Solution Overview
Problem
Surgical robotic systems lack the ability to adjust the maximum aperture size of end effectors, which can lead to unintentional tissue tearing during procedures like fine blunt dissection.
Innovation Solution
A surgical robotic system with a graphical user interface that allows users to set a maximum opening aperture for the end effector jaws, controlled via input controllers such as handle controllers or foot pedals, and displayed on a screen for precise adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the end effector jaws are allowed to open to their full capacity, then the gripping force and aperture size are maximized, but tissue tearing and damage occur during fine blunt dissection procedures
Solution Approach 1:
The system allows dynamic adjustment of the maximum aperture parameter of the end effector jaws. The surgeon can modify the aperture size parameter during the procedure to match the specific tissue handling requirements, preventing tissue tearing while maintaining adequate gripping force for the task at hand.
Solution Approach 2:
The maximum aperture setting is made dynamically adjustable rather than fixed. The system enables real-time modification of the aperture parameter during surgical procedures, allowing adaptation to different tissue types and procedural stages, thereby preventing tissue damage while maintaining operational flexibility.
2Object-affected harmful factors
If the maximum aperture size is restricted, then tissue tearing is prevented, but the versatility and adaptability of the end effector for different procedures are reduced
Solution Approach 1:
The system provides dynamic adjustment of the maximum aperture parameter, allowing the surgeon to modify the aperture size during procedures based on tissue requirements. This maintains versatility across different surgical tasks while preventing tissue tearing through real-time parameter modification.
Solution Approach 2:
The maximum aperture is transformed from a fixed parameter to a dynamically adjustable one. The system enables modification of this critical parameter during procedures, allowing adaptation to various tissue types and procedural stages, thus maintaining versatility while preventing damage.
3Productivity
If the end effector operates at full aperture capacity, then the gripping capability is maximized, but precision control and tissue preservation are compromised
Solution Approach 1:
The system enables dynamic modification of the maximum aperture parameter to match the precision requirements of different tissue handling tasks. By adjusting this parameter, the surgeon can optimize the balance between gripping capability and precision control, preventing tissue damage while maintaining adequate functional performance.
Solution Approach 2:
The maximum aperture setting is made dynamically adjustable during procedures. This allows real-time optimization of the gripping parameters to match the specific precision requirements of different tissue handling tasks, improving both control and tissue preservation while maintaining necessary gripping capability.
Data Source
AI summary
A surgical robotic system includes an instrument and a surgeon console for setting a maximum opening aperture for an end effector of an instrument. The end effector has a first jaw and a second jaw, at least one of which is moveable relative to the other between closed and open configurations. The maximum opening aperture is a variable which limits the open configuration of the first and second jaws. The open and closed configurations of the first and second jaws are controlled by the input controller, which may include a handle controller or a foot pedal. The maximum opening aperture of the first and second jaws may be set on a display screen for receiving user input. The user input may be entered via interaction with a user interface element, such as a user-adjustable graphical representation of the instrument, a dropdown menu, an alphanumeric input box, a slider, etc.