Robotic Surgical Tool Positioning With Tissue and Temperature Feedback

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Solution Overview

Problem

Minimally invasive robotic surgery systems face challenges in intuitive tool placement and dexterity due to the limitations of traditional endoscopic instruments, which hinder precise movement and sensitivity in surgical procedures.

Innovation Solution

A surgical system incorporating an electromechanical arm with a tool that includes sensors to monitor temperature and tissue displacement, allowing the controller to adjust the tool's velocity and position relative to the tissue surface, ensuring safe and precise energy application and movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If traditional endoscopic instruments are used, then minimally invasive surgery can be performed, but surgical dexterity and intuitive tool placement are reduced

Engineering Contradiction:

Improvesurgical dexterityVSAvoidinstrument structure

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The robotic surgical system divides the surgical instrument into multiple independent segments including an electromechanical arm, tool shaft, end effector, and control system. Each segment can be independently controlled and monitored, allowing precise manipulation while maintaining minimally invasive access through small incisions.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces a controller as an intermediary between the surgeon's input and the surgical tool. The controller receives signals from the surgeon and translates them into precise movements of the electromechanical arm and end effector, providing intuitive control while filtering out harmful movements or excessive forces.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Manufacturing precision

If the electromechanical tool advances toward tissue, then surgical precision can be improved, but tissue damage from overheating may occur

Engineering Contradiction:

Improvetool positioning precisionVSAvoidtissue damage

Core Design Contradiction:

Manufacturing precisionVSObject-affected harmful factors

Solution Approach 1:

The system incorporates temperature sensors on the end effector that continuously monitor the tool's temperature during advancement. This feedback is transmitted to the controller, which automatically adjusts the advancement velocity or stops movement when temperature thresholds are exceeded, preventing tissue damage while maintaining precise positioning capability.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The electromechanical tool's advancement velocity is dynamically adjusted based on real-time temperature conditions. The controller modifies the speed of advancement according to the sensed temperature, slowing down or stopping when necessary to prevent overheating, while allowing faster advancement when temperature is within safe ranges.

Inventive Principle:

Principle #15Dynamics

3Ease of operation

If traditional instruments are used, then surgical procedures can be performed, but coordination of end effector movement with visual feedback is difficult

Engineering Contradiction:

Improvemovement coordinationVSAvoidvisual-tactile coordination

Core Design Contradiction:

Ease of operationVSLoss of information

Solution Approach 1:

The patent replaces traditional mechanical endoscopic instruments with an electromechanical system that incorporates sensors and electronic control. This substitution enables real-time monitoring of tool position, temperature, and tissue interaction forces, providing the surgeon with enhanced feedback that improves coordination between visual information and tool movement.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 precision and safety of robotic surgery by preventing tissue damage from overheated tools and accurately measuring tissue displacement, thereby improving surgical dexterity and reducing recovery time.

Implementation Method 1

A sensor can be provided and it can be configured to sense the temperature of the end effector

Methodology Applied

Scientific EffectTemperature sensing:

Implementation Method 2

The surgical system can also include a sensor configured to sense a position of the end effector relative to a tissue surface

Methodology Applied

Scientific EffectPosition sensing:

Data Source

PatentUS12251182B2Surgical tool positioning based on sensed parameters

Publication Date: 2025.03.18 CILAG GMBH INTERNATIONAL

AI summary

Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.