Surgical Tool Positioning via Tissue Sensing
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Solution Overview
Problem
Minimally invasive robotic surgery faces challenges in intuitive tool placement and dexterity due to the limitations of traditional endoscopic instruments, which lack the flexibility and sensitivity of open surgery, and struggle with coordinating movements between the visual display and actual end effector movement.
Innovation Solution
A surgical system with an electromechanical arm and tool configured to sense temperature and position relative to tissue, using sensors like infrared sensors and cameras to control the advancement of the end effector, adjusting velocity based on sensed parameters to prevent tissue damage and ensure precise movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If traditional minimally invasive surgical instruments are used, then the surgical procedure can be performed through small incisions, but the surgeon loses flexibility of tool placement and dexterity
Solution Approach 1:
The robotic surgical system divides the surgical instrument into multiple independently controllable segments or degrees of freedom, allowing the end effector to be positioned with high precision through small incisions while maintaining operational flexibility. The master control devices are also segmented into multiple control elements that map to different degrees of freedom of the slave instrument.
Solution Approach 2:
A robotic intermediary system is introduced between the surgeon's manual control and the surgical instrument. This intermediary robotic system translates the surgeon's intuitive movements into precise tool placement through complex mechanical linkages and control algorithms, resolving the contradiction between small incision access and tool placement flexibility.
2Length of moving object
If traditional endoscopic instruments with added length are used, then the instruments can reach the surgical site, but the surgeon's ability to feel forces exerted by tissues is reduced
Solution Approach 1:
The robotic surgical system incorporates force sensors in the slave instrument that detect tissue forces and feed this information back to the surgeon through the master control devices. This feedback loop allows the surgeon to sense tissue forces intuitively despite the length of the instrument, resolving the contradiction between reaching distant surgical sites and maintaining tactile sensitivity.
3Extent of automation
If traditional endoscopic instruments are used, then the surgical procedure can be performed remotely with visual display, but coordination of end effector movement with visual image is difficult and lacks intuitive response
Solution Approach 1:
The robotic surgical system dynamically adjusts the coordination between master control device movements and slave instrument movements based on the surgical task and tissue properties. The control system incorporates real-time feedback and adaptive algorithms that maintain intuitive correspondence between surgeon input and tool response, even during remote operation with visual display.
4Productivity
If the electromechanical tool advances quickly toward tissue, then surgical productivity is improved, but the risk of tissue damage increases
Solution Approach 1:
The robotic surgical system employs periodic or pulsed advancement of the electromechanical tool toward the tissue, with intermittent pauses for sensor feedback and position verification. This periodic action allows high-speed advancement when safe, while incorporating safety checks that prevent tissue damage, resolving the contradiction between surgical productivity and safety.
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 dexterity and sensitivity of robotic surgery by allowing for controlled and precise energy application to tissue, reducing the risk of damage and improving the surgeon's intuitive control over the surgical tools.
Implementation Method 1
A sensor can be provided and it can be configured to sense the temperature of the end effector. The sensor can include an infrared (IR) sensor
Data Source
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.