Robotic Surgical Tool Magnetic Actuation Through Sterile Barrier
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Solution Overview
Problem
Traditional minimally invasive surgical instruments lack the flexibility, dexterity, and sensitivity required for intuitive surgical maneuvers, particularly due to the limitations of endoscopic tools that are difficult to control through small incisions and lack intuitive movement response.
Innovation Solution
A surgical system that includes a sterile barrier separating the surgical tool from the robotic surgical system, utilizing a magnetic field to move the end effector without mechanical driving, allowing for functions like closing, opening, articulation, and rotation of the end effector, while maintaining a sterile environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If traditional minimally invasive surgical instruments are used, then small incisions are made to reduce recovery time and scarring, but the surgeon loses flexibility in tool placement and dexterity in manipulating instruments
Solution Approach 1:
The patent replaces the traditional mechanical connection between the robotic system and surgical instrument with a magnetic field-based actuation system. The robotic system generates magnetic fields that directly actuate the end effector through the sterile barrier, eliminating the need for mechanical transmissions and allowing flexible instrument control through small incisions while maintaining surgical dexterity
Solution Approach 2:
The patent introduces a sterile barrier as an intermediary component that separates the non-sterile robotic system from the sterile surgical field. This barrier allows magnetic fields to pass through while blocking mechanical connections and contamination, enabling the robotic system to control instruments minimally invasively without compromising sterility or dexterity
2Length of moving object
If endoscopic instruments with added length are used to reach surgical sites through small incisions, then access is improved, but the surgeon's ability to feel forces exerted by tissues on the end effector is reduced
Solution Approach 1:
The patent replaces mechanical force transmission through long instrument shafts with magnetic field actuation. The magnetic fields directly actuate the end effector at the distal end, eliminating the mechanical linkage that attenuates tactile feedback. This allows the surgeon to maintain sensitivity to tissue forces despite the length of the instrument required for minimally invasive access
3Reliability
If a sterile barrier is placed between the robotic surgical system and the surgical tool, then sterility is maintained, but mechanical driving and control become more difficult
Solution Approach 1:
The patent substitutes mechanical drive mechanisms with magnetic field actuation to penetrate the sterile barrier. The robotic system generates magnetic fields that pass through the sterile barrier to directly actuate the end effector, eliminating complex mechanical transmissions and simplifying the control mechanism while maintaining sterility
Solution Approach 2:
The sterile barrier serves as an intermediary that allows magnetic fields to pass through while blocking mechanical connections. This enables the robotic system to control the surgical instrument through the barrier without requiring complex mechanical interfaces, reducing overall system complexity while maintaining sterility
4Ease of operation
If traditional mechanical connections are used between the robotic system and surgical tool, then direct control is achieved, but the risk of contamination increases and dexterity is reduced
Solution Approach 1:
The patent replaces mechanical connections with magnetic field actuation to eliminate physical contact between the non-sterile robotic system and sterile surgical field. The magnetic fields provide direct control of the end effector without mechanical linkages, maintaining control directness while eliminating contamination risk through the sterile barrier
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 surgical dexterity and sensitivity by enabling intuitive control of surgical tools through a magnetic field, improving the precision and effectiveness of minimally invasive procedures without compromising sterility.
Implementation Method 1
The end effector is configured to move in response to generation of a magnetic field extending between a non-sterile environment proximal to the surgical tool and a sterile environment in which the surgical tool is located
Implementation Method 2
a magnetic field generated between the rotor and the stator being configured to cause movement of the end effector
Data Source
AI summary
Various exemplary surgical tool and robotic surgical system interfaces are provided. In general, a sterile barrier can be positioned between a robotic surgical system and a surgical tool releasably coupled to the robotic surgical system. The surgical tool can be in a sterile environment on one side of the sterile barrier, and the robotic surgical system can be in a non-sterile environment on the other, opposite side of the sterile barrier. The robotic surgical system can be configured to control movement of the surgical tool releasably coupled thereto using a magnetic field that extends across the sterile barrier between the surgical tool and the robotic surgical system.