Robotic Surgical End-Effector Force Sensing for Coordinated Control
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Solution Overview
Problem
Robotic surgical systems face challenges in ensuring precise control and coordination of robotic arms during surgical procedures, leading to potential tissue trauma and inefficiencies due to lack of communication and synchronized force application.
Innovation Solution
The implementation of a robotic surgical system with cooperative sensing and control mechanisms, including sensors to monitor forces applied by each arm and a control unit that analyzes these forces to set limits and adjust movements to prevent tissue trauma, along with a communication system that allows coordinated control of multiple robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If robotic arms operate independently without communication, then device complexity is reduced, but tissue trauma increases due to lack of coordinated force application
Solution Approach 1:
The patent merges multiple robotic arms into a coordinated system where forces from different arms are combined and applied synergistically to tissue. The control system integrates force inputs from multiple arms and applies them in a coordinated manner, transforming independent operational units into a unified force application system that reduces tissue trauma through balanced load distribution.
Solution Approach 2:
The patent implements feedback mechanisms where sensors monitor forces applied by each robotic arm in real-time, and this information is fed back to the control system. The control system continuously adjusts arm movements and force application based on this feedback, enabling dynamic coordination that prevents excessive force accumulation and minimizes tissue trauma during surgical procedures.
2Manufacturing precision
If sensors and control mechanisms are added to monitor and coordinate robotic arms, then surgical precision is improved, but device complexity increases
Solution Approach 1:
The control system is designed with multi-functionality, serving multiple purposes: it monitors forces from multiple robotic arms, coordinates their movements, limits maximum force application, and prevents tissue trauma. This universal control architecture consolidates multiple functions into a single integrated system, improving surgical precision without proportionally increasing overall device complexity.
Solution Approach 2:
The patent introduces a control system as an intermediary between the robotic arms and the tissue. This intermediary monitors forces, coordinates movements, and limits force application, acting as a mediating layer that enhances precision while managing complexity by centralizing control functions rather than requiring complex modifications to each individual arm.
3Object-affected harmful factors
If force limits are set and monitored by the control system, then tissue trauma is minimized, but response time increases due to continuous monitoring requirements
Solution Approach 1:
The control system pre-establishes force limits and safety parameters before surgical procedures begin. These force thresholds and coordination protocols are configured in advance, allowing the system to quickly compare real-time sensor data against pre-set criteria without requiring complex real-time calculations, thereby minimizing tissue trauma while maintaining rapid response times.
Solution Approach 2:
The patent dynamically adjusts operational parameters such as force limits and speed thresholds based on surgical conditions and tissue types. By changing these parameters adaptively rather than using fixed values, the system optimizes the balance between minimizing tissue trauma and maintaining responsive operation, allowing faster responses when conditions permit and more conservative limits when needed.
Data Source
AI summary
A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).