Robotic Surgical End Effector With Knife Position Feedback
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Solution Overview
Problem
Endoscopic surgical instruments lack the ability to record operational conditions and provide user feedback during cutting and stapling operations, making failure analysis challenging and user acceptance low due to insufficient deployment force and position feedback.
Innovation Solution
Incorporating sensors and a memory device in the surgical instrument to record the position and conditions of the cutting element, with feedback provided through a visual indication screen or robotics system, and integrating a motor-driven gear drive train with sensor feedback for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors and memory devices are added to record operational conditions, then reliability of failure analysis is improved, but device complexity increases
Solution Approach 1:
The patent embeds sensors and memory devices within the existing surgical instrument structure. Sensors are positioned inside the end effector and shaft assembly, while the memory device is integrated into the handle or control system. This nesting approach allows data collection functionality to be added without significantly increasing the external dimensions or visual complexity of the instrument.
Solution Approach 2:
The patent introduces a feedback system that acts as an intermediary between the surgical instrument and the user. Sensors detect operational parameters (force, position, temperature), the memory device records this data, and the information is presented to the user through displays or haptic feedback. This intermediary layer enables reliable failure analysis and improved user control without requiring direct structural modifications to the cutting or stapling mechanisms.
2Ease of operation
If real-time feedback systems are implemented, then ease of operation is improved, but use of energy increases
Solution Approach 1:
The patent implements feedback systems that update at controlled intervals rather than continuously. The memory device records operational data at specific checkpoints during the surgical procedure, and the feedback display refreshes at manageable rates. This periodic operation provides sufficient real-time information to the user while preventing excessive energy consumption that would occur with truly continuous monitoring and display updates.
Solution Approach 2:
The patent employs feedback mechanisms that provide surgical instrument status information to the user through visual displays or haptic cues. This feedback loop allows the user to monitor force application, position, and operational state without requiring constant high-power processing. The system processes and presents only the most relevant operational parameters, reducing overall energy usage while maintaining ease of operation.
3Manufacturing precision
If motor-driven gear drive train with sensor feedback is integrated, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces purely mechanical control systems with an integrated electromechanical system. Motor-driven actuators with sensor feedback replace traditional mechanical linkages and manual controls for the cutting element. This substitution enables more precise control through electronic regulation while the gear drive train provides mechanical advantage. The sensor feedback loops allow for closed-loop control that compensates for variations in tissue properties and instrument wear.
Solution Approach 2:
The patent designs the motor-driven gear drive train to serve multiple functions simultaneously. The same actuation mechanism controls both the cutting element movement and coordinates with the sensor feedback system for data recording. The gear system provides both mechanical advantage for force multiplication and a structured framework for integrating multiple sensors. This multi-functionality reduces the need for separate dedicated mechanisms, thereby limiting the increase in overall device complexity.
Data Source
AI summary
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.