Surgical Instrument End Effector Fault Detection Controller
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Solution Overview
Problem
In minimally invasive surgical procedures, it is challenging for surgeons to determine the position of end effector components during actuation due to limited visibility and access, especially when fault conditions occur, such as the end effector getting stuck, which can hinder successful completion of surgical procedures.
Innovation Solution
A system that includes a surgical instrument with an end effector and a controller, where the controller receives signals indicating the end effector's position and automatically controls its operation if it fails to reach the anticipated position within a predetermined time, using an onboard motor and limit switch to detect position and facilitate fault rectification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotically-controlled surgical instruments are used to perform minimally invasive procedures, then surgical precision and minimally invasive capability are improved, but the ability to monitor and correct end effector position and fault conditions deteriorates due to remote operation and limited visibility
Solution Approach 1:
The patent implements feedback mechanisms including limit switches and position sensors that continuously monitor the end effector's position and provide real-time information to the control system. This allows the system to detect when the end effector is stuck or in an unexpected position, enabling the surgeon to be informed of the actual state despite remote operation.
Solution Approach 2:
The patent introduces intermediary devices such as position sensors, limit switches, and control systems that act as mediators between the surgeon's commands and the end effector's actual position. These intermediaries transmit position information back to the surgeon and can automatically adjust the end effector's position, bridging the information gap caused by remote operation.
2Reliability
If automatic position monitoring and fault detection systems are implemented, then fault detection capability is improved, but device complexity increases
Solution Approach 1:
The control system uses feedback from position sensors and limit switches to automatically detect fault conditions. When the end effector fails to reach its commanded position or becomes stuck, the system detects this through the feedback signal and can notify the surgeon or automatically attempt to rectify the condition, improving reliability without requiring complex manual monitoring systems.
Solution Approach 2:
The system incorporates self-diagnostic capabilities where the control system automatically monitors the end effector's position and detects faults without requiring external intervention. The system can automatically attempt to rectify certain fault conditions by adjusting the end effector's position, reducing the need for complex manual fault detection and correction procedures.
3Measurement precision
If limit switches and position sensors are installed in the transmission mechanism, then position detection accuracy is improved, but the complexity of the transmission mechanism increases
Solution Approach 1:
Limit switches and position sensors are integrated into the transmission mechanism to provide feedback on the end effector's position. These sensors detect specific positions (such as when the end effector is fully extended or retracted) and provide discrete position information to the control system, enabling accurate position monitoring without requiring continuous complex measurement systems throughout the entire transmission mechanism.
Data Source
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AI summary
A method and system of controlling a surgical instrument including an end effector are provided. The method includes detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position, and automatically controlling operation of the end effector component after a second signal is not received within a predetermined time period after detecting the first signal. The second signal indicates that the end effector component is in one of the first position or the second position. The system includes a surgical instrument and a controller to implement the method.