Surgical Robot Force Sensing for Ureter Insertion Protection
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Solution Overview
Problem
Existing surgical procedures for removing stones from the ureter, such as kidney stones, risk damaging the inner wall due to forces exerted by access sheaths and endoscopes, which are not adequately monitored, leading to potential ureter damage.
Innovation Solution
A surgical robot equipped with a force sensing unit to measure forces acting on access sheaths and endoscopes during operations, stopping the operation or sounding an alarm when forces exceed a reference value, and allowing for realignment to prevent damage.
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 direct contact with the overtube, but the access sheath itself may receive excessive force and damage the ureter due to lack of force monitoring
Solution Approach 1:
The patent applies feedback by implementing a force sensing unit that continuously monitors the force applied to the access sheath and provides real-time information to a control unit. When the measured force exceeds a predetermined threshold, the system automatically responds by stopping the insertion movement or alerting the operator, thereby preventing force-induced damage to the ureter while maintaining protective functionality.
2Productivity
If the overtube is inserted into the access sheath to perform surgical operations, then stone removal operations can be performed, but the overtube may get stuck on the access sheath end portion causing fluctuation and potential damage
Solution Approach 1:
The force sensing unit detects when the overtube encounters resistance or gets stuck on the access sheath by measuring abnormal force fluctuations during insertion or removal operations. The control unit receives this feedback and automatically stops the operation or alerts the operator, preventing the access sheath from fluctuating and potentially damaging the ureter while allowing normal surgical operations to proceed.
3Reliability
If force measurement and automatic response systems are added to the surgical robot, then safety is improved by preventing excessive forces, but the device complexity increases
Solution Approach 1:
The patent implements a relatively simple feedback loop consisting of a force sensing unit connected to a control unit that compares measured force against a predetermined threshold. This minimal feedback structure provides effective safety monitoring without requiring complex algorithms or multiple sensing elements, thus improving safety while minimizing the increase in device complexity.
Solution Approach 2:
The force sensing unit acts as an intermediary element between the mechanical insertion system and the control system. It converts physical force into electrical signals that the control unit can process, providing a simple interface that bridges the mechanical and control domains without requiring complex integration.
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 force sensing unit ensures safe surgical operations by preventing excessive forces from damaging the ureter, enabling safer removal of stones by adjusting the surgical robot's operation or alerting the user.
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
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.