Surgical Tool Strain Sensor Feedback for Retinal Tremor Control
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Solution Overview
Problem
Current surgical systems for retinal microsurgery face challenges in providing precise hands-free control and accurate force feedback, leading to potential retina damage due to human hand tremor and inadequate force sensing, especially during delicate procedures like epiretinal membrane peeling.
Innovation Solution
A surgical system featuring a robot with a smart tool equipped with strain sensors and torque-force sensors along the tool shaft, coupled with a feedback control system that processes signals to determine and counteract lateral forces applied to the tool shaft, enabling hands-free control and minimizing force exertion on the retina.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a surgeon performs retinal microsurgery manually, then the surgeon can directly control the surgical tool, but hand tremor reduces surgical precision and forces below sensory threshold cannot be detected
Solution Approach 1:
The patent replaces the manual mechanical control system with a robotic system that uses sensors and control algorithms to eliminate hand tremor and precisely control applied forces. The robotic instrument holder system substitutes human manual manipulation with automated mechanical control that can detect and respond to forces below human sensory thresholds.
Solution Approach 2:
The patent implements force sensing feedback through strain sensors that detect forces applied to the retinal tissue. This feedback loop allows the control system to monitor and adjust the forces applied by the surgical tool, preventing excessive force that could cause tissue damage while maintaining precision below human sensory thresholds.
2Adaptability or versatility
If the surgeon repositions the patient's eye to adjust the view, then access to the region of interest is improved, but all instruments must move in coordination to avoid cornea striae
Solution Approach 1:
The patent creates a unified control system that manages multiple instruments simultaneously. The robotic instrument holder system provides multi-functional capability to coordinate different surgical tools and the microscope, allowing the system to handle both eye repositioning and instrument coordination through a single integrated control architecture.
Solution Approach 2:
The patent merges the control of multiple independent instruments into a single coordinated system. By combining the control of surgical tools and the microscope under one robotic instrument holder system, the patent eliminates the complexity of coordinating separate instruments while maintaining the ability to adjust the view and access different regions of interest.
3Stability of the object's composition
If a fixed RCM is maintained at the sclera entry point, then tool motion compliance is achieved, but the RCM point can move up to 12 mm during retinal microsurgery
Solution Approach 1:
The patent transforms the static fixed RCM concept into a dynamic system that can adapt its RCM position. The robotic instrument holder system continuously adjusts the RCM point to follow the actual entry point of the surgical tool into the sclera, allowing the RCM to move up to 12 mm while maintaining stability and compliance at each position through real-time control adjustments.
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
This system provides precise control and reduced force exertion on the retina, enhancing surgical precision and safety by allowing the robot to adjust its motion in response to detected forces, thus reducing the risk of retina hemorrhage and tearing during procedures like epiretinal membrane peeling.
Implementation Method 1
a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft
Data Source
AI summary
A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.