Cable-Driven Surgical Tool Disengagement Detection
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Solution Overview
Problem
In surgical robotic systems, there is a challenge in detecting disengagement or breakage of cables that drive surgical tools, which can lead to uncontrolled motion and potential harm during minimally invasive surgery.
Innovation Solution
A robotically assisted surgical electro-mechanical system that includes sensors to detect cable forces and processors to identify tension and velocity norms, comparing these values to thresholds to detect disengagement of cables, ensuring timely and controlled disabling of motors to prevent damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If cable driven surgical tools are used in robotic systems, then surgical flexibility and minimally invasive access are improved, but the risk of cable disengagement or breakage increases which can cause uncontrolled motion and patient harm
Solution Approach 1:
The system performs preliminary detection of cable disengagement or breakage conditions before uncontrolled motion can occur. Sensors continuously monitor cable parameters (tension, position, velocity) and the control system analyzes these parameters to identify abnormal conditions, enabling preventive action to be taken before the cable failure results in harmful uncontrolled tool motion
Solution Approach 2:
The system implements continuous feedback monitoring of cable parameters through sensors that measure tension, position, and velocity. The control system receives this feedback data and analyzes it to detect abnormal conditions indicating cable disengagement or breakage, allowing real-time adjustments and protective actions to maintain surgical safety while preserving cable-driven surgical flexibility
2Reliability
If sensors and processing systems are added to detect cable disengagement, then safety and reliability are improved, but device complexity increases
Solution Approach 1:
The control system performs multiple functions using the same sensor data infrastructure. The sensors that monitor cable position for normal surgical operation also detect tension abnormalities and velocity changes indicative of disengagement. The same processing system that controls tool movement also analyzes cable health parameters, eliminating the need for separate dedicated detection hardware and reducing overall system complexity
Solution Approach 2:
The cable-driven surgical tool system monitors its own cable integrity using integrated sensors and self-diagnosis capabilities. The control system automatically detects cable disengagement or breakage conditions and implements protective actions without requiring external monitoring equipment or manual inspection, enabling the system to self-protect while maintaining surgical functionality
Data Source
AI summary
The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting disengagement of a surgical tool, includes an end effector connected to and driven by cables of a tool driver, sensors configured to detect forces associated with the cables, and one or more processors. The one or more processors identify cable tensions derived from forces detected by the sensors, compare the tension to a threshold tension value, calculate a velocity norm value based on a vector including the velocity value for each of the cables, compare the velocity norm value to a statistic velocity threshold, and identify a disengagement of at least one of the cables based on the first comparison and the second comparison.