Surgical Robot End Effector with Force Feedback for Tissue Stress Reduction
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Solution Overview
Problem
Current methods for holding and handling retractors during surgical operations, particularly in orthopedic procedures, are labor-intensive, costly, and prone to tissue damage due to rigid fixation and lack of adaptability to external disturbances, requiring significant personnel effort and time, and existing robotic systems are not suited for handling medical instruments effectively.
Innovation Solution
A robot with a manipulator and end effector equipped with sensors to detect external parameters, allowing for active control of holding and handling functions, enabling precise positioning and force management, and featuring a modular design for adaptability and sterilization, which reduces the need for extensive calibration and personnel intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If medical personnel manually hold and adjust retractors during surgery, then the surgical field can be kept open with flexibility, but the task is strenuous, time-consuming, and costly
Solution Approach 1:
The robot system autonomously performs holding and handling tasks without requiring continuous manual intervention. The control unit automatically adjusts retractor positions based on detected external forces and pre-programmed surgical parameters, enabling the system to serve itself rather than requiring constant human operation.
Solution Approach 2:
The patent replaces the manual mechanical system of human operators with an automated robotic manipulator. The robot uses sensors to detect forces and a control unit to process this information, substituting human physical effort and decision-making with automated mechanical and electronic systems.
2Stability of the object's composition
If retractors are rigidly fixed to a holding frame, then external disturbances are compensated, but the retractors cannot be actively readjusted and may loosen or cause obstructions
Solution Approach 1:
The robot system transitions from static rigid fixation to dynamic active control. The manipulator continuously adjusts retractor positions in real-time based on sensor feedback about external forces, allowing the system to adapt to changing surgical conditions while maintaining stable tissue retraction.
Solution Approach 2:
The system employs force sensors to detect external disturbances acting on the retractors and feeds this information back to the control unit. The control unit processes this feedback and automatically adjusts the manipulator's position to compensate for disturbances, creating a closed-loop control system that maintains stability while enabling active readjustment.
3Extent of automation
If a robot system is used for holding tasks, then personnel costs are reduced, but the robot is not adapted to external disturbances and works remotely without active control
Solution Approach 1:
The robot incorporates force sensors that detect external disturbances and feed this information back to the control unit. This enables the automated system to adapt its holding force and position in real-time, transforming it from a passive remote-controlled device to an active adaptive system that responds to surgical conditions.
Solution Approach 2:
The patent replaces simple remote control mechanisms with an intelligent control system that uses sensor data to automatically adjust manipulator positioning. This substitution transforms the robot from a basic automated positioner to an adaptive system capable of responding to external forces without manual intervention.
Data Source
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AI summary
The invention relates to a robot for holding and for handling medical instruments/equipment (1), in particular retractors, preferably for use in orthopaedic operations. Said robot comprises a manipulator (2) and an end effector (3) supported on the manipulator (2) for gripping/coupling of the respective instrument (1), wherein means for detecting external parameters relating to the holding situation are provided and wherein the holding/handling function of the robot can be defined on the basis of the identified parameters and optionally using further predeterminable parameters.