Trocar Penetration Monitoring via Force Feedback
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Solution Overview
Problem
Endoscopic robotic systems struggle to accurately monitor the penetration behavior of trocars during surgical procedures, especially in unpredictable environments like the abdominal area of a patient, leading to potential complications due to lack of real-time feedback on force application and pivot point positioning.
Innovation Solution
A method and system for automatically monitoring the penetration behavior of a trocar held by a robotic arm, involving the recording and evaluation of measured values such as penetration depth, pressure, and torque, with visual, acoustic, or haptic outputs to alert operators of deviations from threshold values, allowing for quick correction and minimizing translational forces on the patient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system is used to hold and move the instrument, then the repetitive accuracy and precision of movements are improved, but the ability to detect and respond to changes in the abdominal area is worsened due to lack of manual sensory feedback
Solution Approach 1:
The system incorporates sensors (torque sensors, pressure sensors, visual markers) that continuously monitor the interaction between the instrument and the abdominal area, providing real-time feedback about force application, pressure changes, and position deviations. This feedback loop enables the robotic system to detect and respond to changes in the abdominal wall, resolving the contradiction between automated precision and sensory detection capability.
Solution Approach 2:
The patent introduces intermediary sensing systems (torque sensors in the robotic arm, pressure sensors on the abdominal wall, visual markers) that act as mediators between the robotic instrument and the abdominal area. These intermediaries translate physical interactions into measurable signals, enabling the system to detect changes in the abdominal wall that would otherwise be imperceptible to the automated system.
2Adaptability or versatility
If the trocar is thrust through to different depths into the abdominal area, then the flexibility of penetration depth is improved, but the risk of incorrect force application and complications is worsened
Solution Approach 1:
Torque sensors and pressure sensors provide continuous feedback on the force applied during trocar insertion. The system monitors torque values and pressure changes in real-time, enabling the operator to sense when the trocar has reached the appropriate depth and to detect excessive force application. This feedback mechanism maintains reliability while preserving the flexibility to adjust penetration depth according to surgical needs.
Solution Approach 2:
The system dynamically adjusts the monitoring parameters and force thresholds based on real-time conditions. The torque and pressure sensor data are continuously evaluated against adaptive thresholds that can change during the procedure, allowing the system to maintain appropriate force application limits while accommodating variations in tissue properties and surgical requirements.
3Reliability
If the surgeon manually monitors pressure and responds to alarms, then the ability to compensate for gas escape is improved, but the productivity and efficiency of the procedure is worsened
Solution Approach 1:
The robotic system performs self-monitoring of pressure and force parameters through integrated sensors. The system automatically detects pressure changes, gas escape, and abnormal force application without requiring constant manual monitoring. This self-service capability maintains reliable pressure monitoring while freeing the surgeon to focus on other aspects of the procedure, thereby improving overall productivity.
Solution Approach 2:
The system continuously monitors pressure and torque parameters and provides real-time feedback through visual displays and alerts. This automated feedback system eliminates the need for manual pressure monitoring and response to alarms, as the system automatically detects and communicates abnormal conditions. The surgeon receives information about pressure changes and gas escape status without interruption, improving both monitoring reliability and procedural efficiency.
Data Source
AI summary
A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted.