Robotic Surgical End Effector Energy Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Minimally invasive robotic surgery systems face challenges in providing intuitive and sensitive control over surgical instruments, particularly due to the lack of direct feedback from the surgical site, leading to difficulties in accurately applying energy for cutting and cauterizing tissue without subjective human error.
Innovation Solution
A robotic surgical system featuring an electromechanical arm with an end effector that measures tissue parameters such as temperature and force, adjusting energy application (RF and ultrasonic) to ensure precise cutting and cauterization, eliminating the need for subjective human control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If traditional minimally invasive surgical instruments are used, then small incisions and reduced scarring are achieved, but the surgeon loses flexibility in tool placement and intuitive control
Solution Approach 1:
The patent replaces traditional mechanical manual control systems with a robotic system that uses sensors, processors, and automated actuators to control surgical instrument movements. The robotic system translates surgeon inputs into precise end effector movements, providing both minimally invasive access and intuitive control through automated mechanics.
Solution Approach 2:
The robotic system incorporates sensors that detect forces exerted by tissues and organs on the end effector, and this feedback is processed to adjust instrument movements in real-time. This closed-loop feedback system restores intuitive control to the surgeon while maintaining the benefits of minimally invasive instrumentation.
2Length of moving object
If traditional endoscopic instruments with added length are used, then access to deep surgical sites is improved, but the surgeon's ability to feel forces exerted by tissues is reduced
Solution Approach 1:
The patent replaces the surgeon's direct mechanical sense of tissue forces with electronic sensors that detect forces at the end effector. These sensor signals are processed and transmitted to the control system, which can provide appropriate feedback to the surgeon through the master control devices, effectively replacing lost tactile feedback with electronic sensing and signal processing.
3Ease of operation
If manual control of surgical instruments is used, then surgeon judgment and experience are applied, but subjective human error affects energy application consistency
Solution Approach 1:
The robotic system incorporates sensors that continuously monitor tissue parameters during energy application, and this feedback is processed to automatically adjust energy delivery. This closed-loop control eliminates subjective human error in judging when to apply or stop energy, ensuring consistent and reliable energy application based on objective sensor data rather than surgeon perception.
Solution Approach 2:
The system uses automated sensors and processors to monitor and control energy application parameters without requiring continuous subjective judgment by the surgeon. The robotic system serves itself by automatically detecting tissue responses and adjusting energy delivery accordingly, eliminating the reliability issues associated with manual control while preserving surgeon oversight.
4Reliability
If robotic automation is introduced to improve precision, then energy application consistency is improved, but system complexity increases
Solution Approach 1:
The robotic system is designed with multi-functional components that perform multiple tasks. The same robotic arm and end effector that position the instrument also house the energy delivery system and sensors. This integration reduces overall system complexity by combining functions into universal components rather than requiring separate systems for positioning, energy delivery, and monitoring.
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 ensures consistent and accurate energy application, preventing issues like 'cold cutting' or overheating, thereby improving surgical precision and reducing tissue damage.
Implementation Method 1
The electromechanical tool is configured to move with or relative to the electromechanical arm and apply energy to tissue engaged by the end effector... The at least one type of energy can include radio frequency (RF) energy
Implementation Method 2
The at least one type of energy can include radio frequency (RF) energy and ultrasonic energy
Data Source
AI summary
A robotic surgical system is provided that includes an electromechanical tool coupled to a surgical instrument such as an end effector of the tool is adapted to apply ultrasound and/or radiofrequency (RF) energy to tissue when the end effector is in contact with the tissue. The end effector is configured to measure force exerted by the tissue on the end effector, which corresponds to tension at the tissue engaged by the end effector. A controller operatively coupled to the tool and the arm is configured to adjust a power applied to the tissue based on the measured force on the end effector. The controller can also adjust a type of energy such that one or both ultrasound and RF energy is selected to be applied to the tissue, based on measured force exerted by the tissue on the end effector.