Flexible Articulating Introducer Cannula for Robotic Surgery
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic surgical systems face limitations in workspace efficiency due to rigid surgical scopes and cannulas, which restrict the range of motion and access of surgical instruments, potentially leading to collisions and reduced effectiveness in minimally invasive procedures.
Innovation Solution
The development of robotic systems incorporating deflectable surgical scopes and cannulas with articulation features, allowing for greater flexibility and reconfiguration to enhance reach and access within the surgical workspace, including modular designs for efficient cleaning and reassembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If rigid surgical scopes and cannulas are used in robotic surgical systems, then structural stability and ease of manufacture are improved, but workspace efficiency and range of motion are reduced
Solution Approach 1:
The cannula incorporates an articulation joint that enables dynamic reconfiguration between straight and articulated configurations. This allows the cannula to adapt its shape based on surgical needs, improving workspace efficiency while maintaining structural stability when required. The articulation joint is actuated by a drive mechanism that can selectively change the cannula's configuration during the surgical procedure.
Solution Approach 2:
The cannula is divided into multiple segments including a proximal portion, a distal portion, and an articulation joint connecting them. This segmentation allows independent movement and positioning of each segment, enabling the distal portion to be articulated at an angle relative to the proximal portion while the proximal portion remains stable in the patient's body.
2Ease of manufacture
If rigid surgical scopes and cannulas are used, then manufacturing simplicity is improved, but access and reach within surgical workspace are limited
Solution Approach 1:
The articulation joint provides dynamic reach adjustment, allowing the cannula to extend its effective length and access areas that would be unreachable with a straight rigid cannula. The drive mechanism enables selective articulation to navigate around anatomical structures and reach deep or difficult-to-access surgical sites while maintaining a compact insertion profile.
3Adaptability or versatility
If articulation features are added to cannulas, then flexibility and range of motion are improved, but device complexity increases
Solution Approach 1:
The articulation joint is integrated into the cannula structure with a drive mechanism that provides controlled articulation. The system includes sensors and control circuitry that monitor the articulation state and coordinate movement between the scope and cannula, managing the added complexity through automated control while maintaining surgical simplicity.
Solution Approach 2:
The articulation joint and drive mechanism components are nested within the cannula structure, with the distal portion containing the articulation joint and the proximal portion containing the drive mechanism. This nested arrangement minimizes external complexity while providing the required articulation functionality.
4Adaptability or versatility
If articulation features are added to cannulas, then workspace adaptability is improved, but risk of collisions between instruments increases
Solution Approach 1:
The system incorporates sensors that detect the position and orientation of the articulated cannula and the surgical scope. Control circuitry processes this feedback information and coordinates the movement of both instruments, adjusting their trajectories in real-time to prevent collisions and ensure safe operation within the constrained surgical workspace.
Data Source
AI summary
A system includes a proximal sheath, a distal sheath, and a scope shaft. The proximal sheath has a distal end with a first connection member and is configured to be positioned extracorporeally relative to a patient. The distal sheath has a proximal end with a second connection member configured to releasably connect with the first connection member. A distal sheath portion of the distal sheath is configured to be passed through a body wall and into a body cavity of the patient. The scope shaft is slidable through the proximal and distal sheaths to access the body cavity and includes a distal tip section having a lens configured to visualize the body cavity.