Ultrasonic Surgical Instrument Jaw Closure Force Control
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Solution Overview
Problem
Current surgical instruments lack the precision and versatility needed for minimally invasive and non-invasive procedures, particularly in robotically assisted surgeries, as they often require complex manual dexterity and multiple instruments, which can lead to operator fatigue and reduced precision.
Innovation Solution
A robotically-enabled medical system with a table-based robotic system that includes ultrasonic surgical instruments with articulating shaft assemblies and end effectors capable of cutting, coagulating, and grasping tissue, integrated with a robotic arm system that provides enhanced precision and control, allowing for single-operator use and improved ergonomic positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional surgical instruments are used for minimally invasive procedures, then manual dexterity is required, but operator fatigue increases and precision decreases
Solution Approach 1:
The patent replaces manual mechanical manipulation with a robotically-controlled surgical instrument system. The robotic system includes a robotic arm, carrier KART, and end effector that can be precisely controlled through a controller, eliminating the need for manual dexterity while maintaining high precision in cutting and tissue manipulation operations.
2Adaptability or versatility
If multiple surgical instruments are used for different functions, then versatility is improved, but device complexity increases
Solution Approach 1:
The patent implements a multi-functional end effector that can perform multiple surgical functions including cutting, grasping, and coagulation. The end effector includes a blade element for cutting, a clamp arm with clamp pad for grasping, and can be integrated with ultrasonic and RF electrosurgical energy delivery, allowing a single instrument to replace multiple traditional surgical instruments.
3Measurement precision
If robotically assisted surgery is implemented, then precision is improved, but controller positioning complexity increases
Solution Approach 1:
The patent segments the robotic surgical system into distinct functional modules: a robotic arm for positioning, a carrier KART for supporting and actuating the end effector, and a separate controller for operation. This modular segmentation allows the controller to be positioned independently at a convenient location for the surgeon while the robotic arm and carrier handle the complex positioning and execution tasks.
4Measurement precision
If ultrasonic blade pressure is increased for better cutting, then cutting precision is improved, but tissue damage risk increases
Solution Approach 1:
The patent incorporates feedback mechanisms including sensors that detect tissue impedance, tissue temperature, and blade pressure. The control system uses this feedback information to dynamically adjust the ultrasonic power level and blade pressure, maintaining optimal cutting precision while preventing excessive pressure that could cause tissue damage. The system can real-time adjust power based on sensed parameters.
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
The system enables precise and efficient performance of various medical procedures with reduced operator fatigue, improved precision, and enhanced control, facilitating both minimally invasive and non-invasive surgeries with reduced complexity and increased ease of use.
Implementation Method 1
These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are communicated along an acoustic waveguide to the blade element
Implementation Method 2
a blade element that vibrates at ultrasonic frequencies to cut and/or seal tissue (e.g., by denaturing proteins in tissue cells)
Implementation Method 3
a wave spring configured to absorb closure force generated by the actuation driver
Data Source
AI summary
A surgical instrument includes an end effector, a shaft assembly, an actuation driver, and an actuation assembly. The end effector includes first and second jaws. At least one of the first and second jaws is configured to move relative to the other of the first and second jaws to compress tissue therebetween. The shaft assembly extends proximally from the end effector. The shaft assembly includes a closure member extending along a longitudinal axis. The actuation driver is configured to configured to receive a motor output from a motor. The actuation assembly is operatively coupled with the actuation driver and the closure member. The actuation assembly includes a translating member configured to translate together with the closure member along the longitudinal axis a predetermined distance using the actuation driver such that the closure member applies a predetermined closure force to the first and second jaws corresponding to the predetermined distance.