Surgical Robot Autonomous Traction Force Control
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Solution Overview
Problem
Current surgical robot systems fail to maintain optimal traction force during minimally invasive surgeries, leading to rough tissue cuts, increased bleeding, and prolonged recovery times due to limitations in adjusting tool arms to follow the diseased tissue effectively.
Innovation Solution
A surgical robot system with a control unit that monitors the Cartesian force exerted on surgical instruments and adjusts the traction force to a preset value using a driving device, ensuring consistent and appropriate force application for smooth tissue handling and cutting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the surgical robot system uses a fixed position tool arm for pulling operations, then the device complexity is reduced, but the manufacturing precision of tissue cutting deteriorates
Solution Approach 1:
The patent implements dynamic adjustment of the tool arm's position and orientation during surgical operations. The control unit receives real-time force feedback from sensors and automatically adjusts the tool arm's configuration to maintain optimal traction force, transforming a static fixed-position system into a dynamic adaptive system that follows the diseased tissue throughout the procedure.
Solution Approach 2:
The patent incorporates force sensors that continuously measure the traction force applied to tissues and feed this information back to the control unit. The control unit compares the measured force with a preset target force and automatically adjusts the tool arm position to maintain the desired force level, creating a closed-loop feedback control system that ensures precise tissue handling.
2Ease of operation
If the surgical robot system does not adjust the tool arm to follow diseased tissue, then the ease of operation is improved, but the object-affected harmful factors increase
Solution Approach 1:
The surgical robot system performs self-adjustment through automatic feedback control. The control unit autonomously processes force sensor data and adjusts the tool arm position without requiring constant manual intervention from the surgeon. This self-service capability maintains optimal traction force throughout the procedure while reducing tissue damage, burning, and bleeding.
Solution Approach 2:
The patent replaces manual mechanical adjustment by the surgeon with an automated control system that uses force sensors and computer-controlled actuation. This substitution of manual mechanical operation with an automated force-controlled system reduces tissue damage while maintaining ease of operation, as the system automatically compensates for tissue movement and deformation.
3Device complexity
If the surgical robot system uses manual force adjustment, then the device complexity is reduced, but the duration of action increases
Solution Approach 1:
The patent implements continuous force monitoring and adjustment throughout the surgical procedure. The force sensors continuously measure traction force, and the control unit continuously adjusts the tool arm position to maintain optimal force levels. This continuous useful action ensures smooth tissue cutting and handling throughout the entire operation, reducing the overall surgical time despite the added complexity of the control system.
Data Source
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AI summary
The application provides a surgical robot system, wherein the first tool arm and the first surgical instrument are configured to pull tissues and organs, the second tool arm and the second surgical instrument are configured to perform a surgical operation on tissues and organs, the control unit is configured to obtain a magnitude of a Cartesian force exerted by the tissues and organs on the first surgical instrument, and compare the magnitude of the Cartesian force exerted by the tissues and organs on the first surgical instrument with a preset force value; if the magnitude of the Cartesian force exerted by the tissues and organs on the first surgical instrument is less than the preset force value, the control unit controls the driving device to drive the first tool arm and the first surgical instrument according to the preset force value, to increase a traction force exerted by the first surgical instrument on the tissues and organs to the preset force value. As a result, a function of autonomous pulling is achieved.