Torque Compensation for Surgical Clamping Instruments
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Solution Overview
Problem
Minimally invasive surgical instruments, such as surgical staplers and vessel sealers, face challenges in accurately controlling torque to ensure proper clamping and tissue gap, leading to inadequate staple formation and tissue damage due to improper clamping force.
Innovation Solution
A system that adjusts torque limits for clamping instruments using a processor-controlled motor assembly, acquiring an initial torque limit and adjusting it based on a set of parameters to achieve an optimal adjusted torque limit for precise clamping, ensuring proper tissue gap and staple formation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a fixed torque limit is used for clamping instruments, then the device complexity is reduced, but the manufacturing precision of staple formation deteriorates due to inability to compensate for wear and variability
Solution Approach 1:
The patent implements dynamic torque limit adjustment where the torque limit is not fixed but varies based on multiple parameters including instrument lifetime, temperature, and wear compensation. The system continuously adapts the torque limit to maintain optimal clamping force throughout the instrument's operational life, resolving the contradiction between precision and complexity by making the control parameter dynamic rather than static
Solution Approach 2:
The system changes the torque limit parameter based on multiple factors including instrument lifetime, temperature conditions, and wear compensation models. By adjusting the torque limit parameter dynamically according to these changing conditions, the system maintains manufacturing precision without requiring a completely complex control mechanism
2Reliability
If torque limit is increased to ensure adequate clamping force, then the reliability of clamping improves, but the harmful effects on tissue increase due to excessive clamping force
Solution Approach 1:
The system incorporates feedback mechanisms where actual torque values are monitored and compared against adjusted torque limits. The feedback loop allows the system to detect when clamping force approaches dangerous levels and automatically reduce torque to prevent tissue damage while maintaining adequate clamping for reliable operation
Solution Approach 2:
The torque limit parameter is dynamically adjusted based on instrument lifetime and wear compensation models. As the instrument ages and wear occurs, the system modifies the torque limit to maintain optimal clamping force that is sufficient for reliable operation but not excessive enough to cause tissue damage
3Measurement precision
If torque control is simplified to reduce device complexity, then the ease of operation improves, but the measurement precision of actual clamping force deteriorates
Solution Approach 1:
The patent replaces complex mechanical torque measurement systems with electronic torque sensing and control. By using electronic sensors and digital control algorithms, the system achieves precise measurement of actual clamping force while keeping the overall device complexity manageable through software-based compensation and adjustment mechanisms
Data Source
AI summary
Techniques for torque compensation include a system include actuating means coupled to a clamping means and processing means. The processing means is configured to acquire an initial torque limit for the clamping means; adjust the initial torque limit based on an angle of a wrist of the clamping means to obtain an adjusted torque limit; and drive, subject to the adjusted torque limit, the actuating means to cause the clamping means to clamp a material.