Surgical Robotic Device Triggering Force Detection
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Solution Overview
Problem
Current surgical robotic systems require users to manually trigger position changes, which can be time-consuming and disruptive to the workflow, often necessitating the use of footswitches or buttons that interrupt the surgeon's focus and efficiency during procedures like total knee arthroplasty.
Innovation Solution
A surgical system with a robotic device that includes an end effector, an actuation unit, and a control unit capable of detecting a triggering force applied to the end effector or actuation unit, allowing for seamless alignment with the next target plane or axis without the need for manual intervention, thereby simplifying the position change process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual triggering methods (footswitch, buttons, virtual button) are used to trigger position change, then the robotic device can be controlled to move to the next cutting position, but the user workflow is interrupted and time is lost due to searching for controls and removing hands from the end effector
Solution Approach 1:
The robotic device automatically detects the completion of a cut through sensors monitoring cutting parameters (vibration, power consumption, acoustic emissions) and autonomously transitions to the next position without requiring manual intervention. The system serves itself by self-detecting cut completion and self-triggering the position change sequence.
Solution Approach 2:
The system continuously monitors cutting parameters through multiple sensors (vibration sensors, power consumption sensors, acoustic emission sensors) and uses this feedback to automatically determine when a cut is complete. This closed-loop feedback mechanism eliminates the need for manual triggering by providing real-time information about cut status to the control unit.
2Productivity
If the user must search for footswitch or button controls to trigger position change, then the robotic device can be moved, but the user's focus and efficiency are disrupted during the surgical procedure
Solution Approach 1:
The robotic system automatically determines cut completion and triggers position changes without requiring the surgeon to search for or operate external controls. The system monitors its own operational state and autonomously manages the transition between cutting positions, allowing the surgeon to maintain continuous focus on the surgical procedure.
Solution Approach 2:
The patent replaces manual mechanical triggering (footswitches, physical buttons) with an automated sensing and control system that uses electronic sensors and computer-controlled actuation. This substitution eliminates the need for the surgeon to physically interact with triggering mechanisms, thereby maintaining surgical workflow continuity.
3Productivity
If another person must be instructed to activate the robotic device, then position change can be triggered, but the surgical workflow is further interrupted and user frustration increases
Solution Approach 1:
The robotic device is fully autonomous in detecting cut completion and triggering position changes. The system monitors cutting parameters, determines when a cut is complete, and automatically initiates the positioning sequence without requiring any human intervention or coordination with other personnel, thereby eliminating workflow interruptions entirely.
Solution Approach 2:
Multiple sensors continuously monitor cutting parameters and provide real-time feedback to the control unit. When the feedback indicates cut completion (through vibration patterns, power consumption levels, or acoustic emissions), the system automatically triggers the position change, eliminating the need for manual activation by any person.
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
This solution streamlines the position change process by allowing users to apply the triggering force directly to the robotic device, reducing workflow interruptions and enhancing user ergonomics, thus improving the efficiency and speed of surgical procedures.
Implementation Method 1
a tracking unit configured to determine a pose of the current plane or axis
Implementation Method 2
detect a triggering force applied to the end effector and/or the actuation unit
Data Source
AI summary
The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising:a robotic device (1) comprising:an end effector (2) defining a current plane or axis,an actuation unit (11) coupled to the end effector (2),a tracking unit (3) configured to determine a pose of the current plane or axis,a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure,the robotic device being operable in at least the following modes:a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, anda waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis,wherein the control unit is further configured to:(a) determine that the robotic device (1) is in the waiting mode;(b) detect a triggering force applied to the end effector (2) and/or the actuation unit (11) in at least one first direction;(c) as a result of determination (a) and detection (b), trigger a position change of the end effector (2) by the actuation unit (11) to align the current plane or axis with a next target plane or axis.