Surgical End Effector Control Under Force-Triggered Jaw Adjustment
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Solution Overview
Problem
Existing surgical robotic systems face challenges in accurately controlling surgical instruments due to insufficient control systems that fail to account for external forces applied to the end effector, particularly during procedures like blunt dissection, leading to inadequate movement of the jaws.
Innovation Solution
A control system that transforms surgeon input device commands into control signals using a first control relationship for normal conditions and switches to a second control relationship when external forces are detected, adjusting the opening angle of the end effector elements to counteract these forces, ensuring precise movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system is used to control surgical instruments, then precision and consistency of surgical movements are improved, but the complexity of the control system and training requirements increase
Solution Approach 1:
The patent introduces a control interface as an intermediary between the robotic system and the surgeon. This interface includes graphical user interfaces, haptic feedback devices, and signal processing components that translate complex robotic movements into intuitive surgical controls, reducing the perceived complexity while maintaining precision
Solution Approach 2:
The system implements real-time feedback mechanisms where the robotic system monitors and reports the position, force, and movement of surgical instruments. This feedback is displayed to the surgeon through visual and haptic interfaces, enabling precise control without requiring the surgeon to directly manipulate complex robotic mechanisms
2Stability of the object's composition
If automated control systems are implemented, then reproducibility of surgical procedures is improved, but the cost and complexity of the system increase
Solution Approach 1:
The system performs preliminary actions by pre-programming standard surgical procedures and preparing virtual models of patient anatomy before the actual surgery. This allows the robotic system to execute reproducible procedures while adapting to specific patient conditions, reducing the need for complex real-time decision-making
Solution Approach 2:
The patent creates virtual copies of patient anatomy and surgical procedures through imaging data and simulation models. These digital twins allow the system to rehearse and optimize procedures before execution, ensuring reproducibility while simplifying the physical system through virtual preparation
3Measurement precision
If haptic feedback is added to the control interface, then the surgeon's ability to sense tissue properties is improved, but the device complexity and energy consumption increase
Solution Approach 1:
The haptic feedback system uses pneumatic and hydraulic actuators to generate tactile sensations. These fluid-based actuation methods provide smooth, controllable force feedback with lower energy consumption compared to purely electromagnetic or motor-based systems, while still enabling the surgeon to sense tissue properties effectively
Data Source
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AI summary
A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system: transforms commands from the surgeon input device to alter the opening angle between the first and second end effector elements according to a first control relationship to drive signals to drive the first and second end effector elements to rotate; receives sensed forces applied to the first and second end effector elements, and compares the sensed forces to a threshold force; and upon determining that the threshold force has been exceeded, transforms subsequent commands from the surgeon input device to alter the opening angle between the first and second end effector elements according to a second control relationship to drive signals to drive the first and second end effector elements to rotate, wherein the second control relationship is different to the first control relationship.