Surgical System Motor Control via Force Feedback

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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 tissues or devices due to inadequate motor power and delayed cessation of operations.

Innovation Solution

A surgical system with an electromechanical tool and a control system that measures force and insertion depth, allowing for real-time adjustment of power and velocity, and includes a machine vision system for precise tissue type identification and zone of avoidance detection to prevent unintended tissue damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Power

If electric motor power is increased to ensure adequate cutting and sealing capability, then the motor can handle tougher tissue, but the risk of motor stall and potential damage increases without feedback control

Engineering Contradiction:

Improvemotor powerVSAvoiddevice reliability

Core Design Contradiction:

PowerVSReliability

Solution Approach 1:

The control system receives feedback from force sensors that measure the force applied by the end effector on the tissue. When the measured force exceeds a threshold indicating motor stall, the control system automatically reduces motor power or reverses rotation to prevent device damage and ensure safe operation.

Inventive Principle:

Principle #23Feedback

2Manufacturing precision

If electrically-powered devices are used to automate surgical functions, then operational precision can be improved, but tactile feedback and situational awareness are reduced

Engineering Contradiction:

Improveoperational precisionVSAvoidtactile feedback

Core Design Contradiction:

Manufacturing precisionVSLoss of information

Solution Approach 1:

Force sensors provide real-time feedback to the control system about the force being applied to the tissue. This feedback loop restores situational awareness by allowing the control system to monitor and respond to tissue characteristics, effectively replacing the tactile feedback that would otherwise be lost in automated operation.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces manual mechanical sensing with electronic force sensors that measure tissue interaction forces. These electronic sensors provide precise quantitative data to the control system, substituting the surgeon's manual tactile sensing with automated electronic measurement and control.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Duration of action of moving object

If the motor continues driving the mechanism after the actuation button is released, then the mechanism can complete its motion, but the mechanism may continue to advance beyond the desired position

Engineering Contradiction:

Improvemechanism motion durationVSAvoidinsertion depth precision

Core Design Contradiction:

Duration of action of moving objectVSManufacturing precision

Solution Approach 1:

The control system continuously monitors the position of the end effector and the force being applied. When the desired insertion depth is reached or excessive force is detected, the control system immediately halts motor operation, preventing the mechanism from advancing beyond the desired position despite kinetic energy in the system.

Inventive Principle:

Principle #23Feedback

4Measurement precision

If force measurement and real-time control are implemented, then situational awareness and precision are enhanced, but device complexity increases

Engineering Contradiction:

Improveforce measurement precisionVSAvoidcontrol system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces complex mechanical feedback mechanisms with electronic force sensors and a microprocessor-based control system. This substitution simplifies the overall system architecture while providing more precise and reliable measurement and control capabilities compared to purely mechanical solutions.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 situational awareness and precision during surgical procedures by providing real-time feedback, preventing tissue damage and device malfunction through controlled power delivery and velocity adjustments based on force and tissue type, and avoiding capacitive coupling zones.

Implementation Method 1

a motor operably coupled to the electromechanical tool and configured to drive insertion of the end effector into tissue at a treatment velocity

Methodology Applied

Scientific EffectElectromagnetic induction: Electromagnetic Induction

Implementation Method 2

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, to determine a depth of insertion within tissue of the end effector

Methodology Applied

Scientific EffectForce sensing: Force