Surgical Robot Force Sensing Unit for Ureter Protection
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Solution Overview
Problem
During surgical operations for removing kidney stones, the access sheath and endoscope can cause damage to the ureter due to friction, jamming, or excessive force, leading to potential injury and complications.
Innovation Solution
A surgical robot equipped with a force sensing unit that measures the forces applied to the access sheath and endoscope during insertion, withdrawal, and movement, allowing for real-time monitoring and automatic safety actions such as stopping the operation or sounding an alarm when forces exceed a reference value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the access sheath is inserted into the ureter to protect the inner wall, then the ureter is protected from damage, but the access sheath may receive excessive force and cause damage to the inner wall of the ureter
Solution Approach 1:
The force sensing unit continuously monitors the force applied to the access sheath and provides real-time feedback to the control unit. When the force exceeds a predetermined reference value, the control unit automatically responds by stopping the insertion or withdrawing the access sheath, thus preventing damage to the ureter inner wall while maintaining protection during safe force levels
Solution Approach 2:
The patent replaces manual mechanical monitoring and control with an automated sensing and control system. The force sensing unit substitutes for manual force assessment, and the control unit substitutes for manual decision-making, enabling precise control of the access sheath to prevent ureter damage
2Productivity
If the overtube is moved inside the access sheath to remove stones, then stone removal is achieved, but the overtube may get stuck and cause fluctuation of the access sheath, damaging the inner wall of the ureter
Solution Approach 1:
The force sensing unit monitors forces during overtube movement and provides feedback to the control unit. When abnormal forces indicating the overtube is stuck or causing access sheath fluctuation are detected, the control unit responds by stopping the movement or adjusting positions, preventing damage to the ureter inner wall while enabling effective stone removal
Solution Approach 2:
The force sensing unit is pre-configured with reference values for safe force levels. Before damage occurs, the system establishes force thresholds and automatically responds when these thresholds are exceeded, preventing the access sheath fluctuation that would cause ureter inner wall damage
3Productivity
If force is applied to pull the stone through the access sheath, then stone removal is achieved, but the inner wall of the ureter may be damaged due to excessive force
Solution Approach 1:
The force sensing unit continuously monitors the force applied during stone extraction. When the force exceeds the predetermined reference value that could cause ureter tearing, the control unit automatically responds by stopping the extraction or reducing the applied force, enabling safe stone removal without causing ureter damage
Solution Approach 2:
The patent replaces manual force control during stone extraction with an automated force sensing and control system. The sensing unit provides real-time force measurement, and the control unit automatically adjusts the extraction force to remain within safe limits, preventing ureter tearing while achieving stone removal
4Device complexity
If the endoscope is inserted directly into the ureter without access sheath, then the surgical procedure is simplified, but friction or jam may occur on the inner wall of the ureter
Solution Approach 1:
When the endoscope is inserted directly into the ureter, the force sensing unit mounted on the endoscope provides real-time feedback on forces encountered during insertion and movement. When excessive force indicating friction or jam is detected, the control unit responds by stopping the insertion or adjusting the insertion path, preventing damage to the ureter inner wall while maintaining procedural simplicity
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 implementation of the surgical robot with a force sensing unit enhances the safety of the surgical operation by preventing excessive force that could damage the ureter, allowing for smoother stone removal procedures and reducing the risk of complications.
Implementation Method 1
a force sensing unit configured to measure a force generated when the endoscope is inserted into or withdrawn from the inner portion of the human body
Data Source
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AI summary
The present invention may provide a surgical robot comprising: an endoscope having an overtube that is inserted into the human body; a surgical tool inserted into the overtube; and a force sensing unit which measures the force that is generated when inserting or withdrawing the endoscope into or from the human body.