Surgical Instrument Skiving Detection via Embedded Sensors
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Solution Overview
Problem
Robotic surgical systems face challenges in accurately tracking small movements, such as skiving, during robotic or robot-assisted surgeries, particularly when drilling into hard tissues like bone, due to limitations in navigation tracking systems' resolution, which can lead to deviations from intended trajectories and undesirable outcomes.
Innovation Solution
Incorporating sensors, such as strain gauges, resistance-based sensors, fiber optic cables, and laser distance measurement units, into surgical instruments to detect and measure deflection, allowing for real-time monitoring and alerting or cessation of the instrument to prevent excessive skiving, thereby maintaining precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If navigation tracking systems are used to track surgical instrument position, then position tracking capability is improved, but the ability to detect small movements like skiving deteriorates due to resolution limits
Solution Approach 1:
The monitoring function is segmented from the overall navigation system and embedded directly into the surgical instrument. Separate sensors (strain gauges, resistance-based sensors, fiber optic cables, laser distance measurement units) are integrated within the instrument shaft to detect local deflection, enabling detection of small movements without relying solely on the navigation system's external tracking capabilities.
Solution Approach 2:
Physical sensors act as intermediaries between the surgical instrument and the control system. These sensors directly measure deflection and skiving by contacting or embedding within the instrument structure, providing a direct measurement path that bypasses the limitations of optical tracking systems for detecting very small movements.
2Difficulty of detecting and measuring
If sensors are integrated into the surgical instrument to detect deflection, then detection capability for skiving is improved, but device complexity increases
Solution Approach 1:
The sensor integration system serves multiple functions: it monitors skiving during insertion, detects instrument deflection, and provides feedback for real-time control. By embedding sensors within the instrument structure, the system eliminates the need for separate monitoring devices, as the same instrument that performs the surgical function also performs the measurement function.
Solution Approach 2:
Sensors are nested within the instrument structure itself - strain gauges and resistance-based sensors are embedded in the instrument shaft, fiber optic cables are integrated into the instrument body, and laser distance measurement units are incorporated within the instrument housing. This nesting approach allows the sensing functionality to be contained within the existing instrument geometry without adding external complexity.
3Manufacturing precision
If real-time sensor monitoring is implemented, then surgical precision is improved, but operational complexity increases
Solution Approach 1:
The sensor system provides real-time feedback on instrument deflection and skiving to the control system. This feedback enables the controller to automatically adjust or terminate instrument actuation when threshold violations are detected, maintaining precision through automated control rather than requiring increased operator skill or attention.
Solution Approach 2:
The instrument monitors its own performance characteristics through integrated sensors. The system self-diagnoses skiving and deflection conditions without requiring external monitoring equipment or separate measurement systems, thereby simplifying the operational workflow while maintaining high precision through built-in self-monitoring capabilities.
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
Enhances the accuracy of surgical procedures by promptly detecting and addressing skiving, reducing the risk of deviations and improving the placement of instruments in hard tissues, thus ensuring better surgical outcomes.
Implementation Method 1
strain gauges
Implementation Method 2
resistance-based sensors
Implementation Method 3
fiber optic cables
Implementation Method 4
laser distance measurement units
Implementation Method 5
laser distance measurement units
Implementation Method 6
ultrasonic distance measurement units
Data Source
AI summary
Systems, methods, and devices are disclosed for surgical instruments, systems, and methods for detecting skiving of a surgical instrument, such as an instrument used during a robotic or robot-assisted surgery. The embodiments disclosed herein may include one or more sensors adjacent to, coupled to, disposed on, or embedded into an instrument in order to measure deflection thereof during use that may indicate skiving of the instrument. A variety of sensors may be utilized, including strain gauges, resistance-based sensors, fiber optic cables, laser distance measurement units, ultrasonic distance measurement units, optical cable measurement units, etc. In some embodiments, multiple such sensors may be included in an instrument in order to measure magnitude and/or direction of deflection.