Surgical Force Sensor Cleaning via Radial Ribs and Flush Manifold
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Solution Overview
Problem
In robotically-assisted surgery, surgeons face challenges in accurately sensing forces and torques applied to surgical instruments, and there are difficulties in cleaning and sterilizing these instruments, especially due to constraints on liquid flow reaching the distal tip of force sensors.
Innovation Solution
A force sensing robotic surgical instrument with a proximal housing, a shaft, and a force transducer featuring radial ribs and strain gauges, along with a flush manifold that directs and redirects cleaning liquid through passages to effectively clean the instrument while providing accurate force and torque feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is placed distal to the wrist joints, then force sensing capability is improved, but device complexity increases due to wire routing through flexing joints and separate pivot axes
Solution Approach 1:
The force sensor is extracted from the distal end and relocated to the proximal end of the instrument shaft, eliminating the need for wire routing through flexing wrist joints and simplifying the pivot axis configuration while maintaining force sensing capability
Solution Approach 2:
The conventional arrangement of placing the force sensor distal to the wrist joints is inverted by positioning it proximal to the wrist joints, thereby reversing the wire routing requirements and simplifying the overall device architecture
2Adaptability or versatility
If the instrument size is reduced for minimally invasive surgery, then adaptability is improved, but cleaning difficulty increases due to constrained liquid flow access
Solution Approach 1:
The cleaning passages are segmented into multiple separate channels that distribute cleaning liquid to different regions of the force sensor, ensuring thorough cleaning of all surfaces including the distal tip despite the compact instrument size
Solution Approach 2:
A cleaning liquid delivery system acts as an intermediary, channeling cleaning liquid through dedicated passages to reach the force sensor and distal tip areas that would otherwise be inaccessible due to the reduced instrument size
3Ease of operation
If cleaning liquid flow is increased to reach the distal tip, then cleaning effectiveness is improved, but device complexity increases due to flush manifold and plenum requirements
Solution Approach 1:
The cleaning liquid delivery system is merged with the existing instrument shaft and force sensor structure, integrating the flush manifold and plenum into the overall design to minimize additional complexity while achieving effective cleaning
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 solution enhances force and torque feedback to surgeons during robotic surgery and facilitates effective cleaning of reusable force sensing instruments, improving user awareness and control while ensuring proper sterilization.
Implementation Method 1
a strain gauge positioned over each of the plurality of radial ribs
Data Source
AI summary
A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.