Articulate Swappable Endoscope Flexible Wrist Control
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Solution Overview
Problem
Current minimally invasive surgical robotic systems face limitations in flexibility and visibility, particularly due to rigid endoscopes and the need for multiple scope switches, which increase procedural duration and complexity, and hinder access to large anatomical areas or hidden tissues.
Innovation Solution
A surgical robotic system with an articulate and swappable endoscope featuring a flexible wrist that allows for pitch and yaw movement, enabling multiple visual perspectives and improved visibility without adding operational complexity, by using a processor to maneuver the endoscope for an orbital view around a fixed site, and a master input device for intuitive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a rigid endoscope is used in current minimally invasive surgical robotic systems, then the structural stability is maintained, but the flexibility and ability to access large anatomical areas or hidden tissues is reduced
Solution Approach 1:
The endoscope is divided into multiple articulated segments that can move relative to each other, allowing the distal end to reach hidden anatomical areas while the proximal end remains stable for attachment to the robotic system
Solution Approach 2:
The endoscope transitions from a rigid static structure to a dynamic articulated structure with multiple degrees of freedom, enabling flexible positioning and orientation adjustments while maintaining structural integrity through controlled movement
2Adaptability or versatility
If multiple scope switches are performed to achieve different visual perspectives, then the viewing coverage is improved, but the procedural duration and operational complexity increase
Solution Approach 1:
Multiple viewing functions are merged into a single articulated endoscope by integrating pitch and yaw capabilities, eliminating the need to switch between multiple separate scopes and simplifying operational procedures
Solution Approach 2:
The endoscope is designed with multi-functionality to provide various visual perspectives through articulation rather than requiring multiple specialized scopes, reducing operational complexity while maintaining versatile viewing capabilities
3Adaptability or versatility
If the endoscope is made more flexible to access hidden tissues, then the adaptability is improved, but the control precision and stability may deteriorate
Solution Approach 1:
The endoscope employs dynamic articulation with controlled degrees of freedom that allow flexibility for accessing hidden tissues while maintaining precision through controlled movement ranges and robotic actuation
Solution Approach 2:
The robotic control system incorporates feedback mechanisms to monitor and adjust the articulation of the flexible endoscope, ensuring precise control and stability even when accessing difficult-to-reach anatomical areas
Data Source
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AI summary
The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling at least one degree of freedom motion to the flexible wrist for wrist motion associated with at least one degree of freedom. The endoscopie in accordance to the present invention attenuates indesirable motion at its back/proximal end by acquiring the image of the object in association with at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.