Surgical System Force Feedback and Tissue Detection
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Solution Overview
Problem
Electrically-powered surgical devices lack control and tactile feedback, leading to reduced situational awareness for surgeons, potentially causing damage to patients or devices due to inadequate motor power and precision issues during tissue cutting and dissection.
Innovation Solution
A surgical system with an electromechanical tool and a control system that measures force and insertion depth, allowing for real-time feedback to adjust power and velocity, and includes a machine vision system to determine tissue type and prevent entry into zones of avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If electric motor power is increased to ensure adequate cutting force, then cutting capability is improved, but risk of tissue damage and device malfunction increases
Solution Approach 1:
The control system continuously monitors force sensors during cutting operations and automatically adjusts motor power delivery based on real-time feedback. When the force threshold is exceeded, the system reduces power to prevent tissue damage; when force is insufficient, it increases power to maintain cutting capability. This closed-loop feedback mechanism resolves the contradiction by dynamically balancing cutting force with safety limits.
2Productivity
If motor velocity is increased to improve cutting speed, then productivity is improved, but precision and control are reduced
Solution Approach 1:
The system dynamically adjusts motor velocity based on real-time cutting conditions and force feedback. Rather than operating at a fixed high speed, the motor velocity is continuously modulated to match the specific tissue type, cutting depth, and resistance encountered. This dynamic velocity control maintains high productivity when conditions permit while ensuring precision when resistance increases or tissue type changes.
3Reliability
If real-time force and depth monitoring is implemented, then safety and precision are improved, but device complexity increases
Solution Approach 1:
The control system performs self-monitoring and self-adjustment using integrated force sensors and depth sensors. The system automatically compares sensor readings against pre-programmed safety thresholds and tissue-specific parameters, then autonomously adjusts motor power and velocity without requiring external intervention. This self-service capability enhances safety while minimizing the complexity burden on the user.
4Force
If power is continuously delivered during motor stall to maintain cutting capability, then cutting force is maintained, but device damage and patient harm increase
Solution Approach 1:
The force sensors detect when the motor enters a stalled condition (excessive force without movement) and immediately feedback this information to the control system. The control system responds by automatically reducing or cutting off power delivery within milliseconds, preventing both device damage from overheating and patient harm from excessive force application. This feedback mechanism maintains cutting capability during normal operation while preventing harmful effects during stall conditions.
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
Enhances precision and safety by providing real-time feedback to surgeons, preventing tissue damage and device malfunction by adjusting power and velocity based on force and depth, and ensuring accurate tissue type identification and zone avoidance.
Implementation Method 1
The control system can be configured to measure a force acting upon the end effector when the end effector is moving at the treatment velocity
Implementation Method 2
a motor operably coupled to the electromechanical tool and configured to drive insertion of the end effector into tissue
Implementation Method 3
an end effector with an energy-delivering electrode disposed thereon
Data Source
AI summary
Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.