Bent Introducer Cannula for Robotic Surgical Scope
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Solution Overview
Problem
Robotic surgical systems face limitations in workspace efficiency due to the rigid configuration of surgical scopes and cannulas, which restricts the range of motion and access of surgical instruments, potentially leading to collisions and reduced precision during minimally invasive procedures.
Innovation Solution
The development of deflectable surgical scopes and cannulas with articulation features, such as flexible joints and motorized drive mechanisms, allows for greater flexibility and positioning options within the body cavity, enabling improved access and reduced collision risk by allowing the surgical instruments to be positioned remotely from the robotic arm and minimizing the workspace footprint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If rigid surgical scopes and cannulas are used, then structural stability is maintained, but workspace efficiency and range of motion are reduced
Solution Approach 1:
The cannula is divided into multiple segments including a proximal cannula portion, a distal cannula portion, and an articulation section with multiple articulation segments. This segmentation allows each segment to perform specific functions while maintaining overall structural integrity and enabling flexible positioning within the body cavity.
Solution Approach 2:
The articulation mechanism incorporates movable joints and articulation sections that allow the distal cannula portion to dynamically adjust its orientation and position. The articulation segments can rotate and articulate relative to each other, providing real-time adaptability to navigate complex anatomical pathways and optimize surgical access.
2Reliability
If rigid configuration is used, then manufacturing simplicity is maintained, but collision risk and access capability increase
Solution Approach 1:
The cannula is divided into multiple segments including a proximal cannula portion, a distal cannula portion, and an articulation section with multiple articulation segments. This segmentation allows each segment to perform specific functions while maintaining overall structural integrity and enabling flexible positioning within the body cavity.
Solution Approach 2:
The articulation mechanism utilizes flexible articulation sections that allow the distal portion to bend and articulate without compromising structural integrity. This flexibility enables the cannula to navigate around anatomical structures and avoid collisions while maintaining sufficient rigidity for precise instrument delivery.
3Area of stationary object
If remote positioning is enabled, then workspace footprint is minimized, but positioning mechanism complexity increases
Solution Approach 1:
The articulation mechanism incorporates movable joints and articulation sections that allow the distal cannula portion to dynamically adjust its orientation and position. The articulation segments can rotate and articulate relative to each other, providing real-time adaptability to navigate complex anatomical pathways and optimize surgical access.
Solution Approach 2:
The articulation segments are nested within each other, with each articulation segment containing the next segment. This nested configuration allows the distal cannula portion to achieve complex positioning and orientation while maintaining a compact profile, minimizing the workspace footprint required for the positioning mechanism.
Data Source
AI summary
An apparatus includes a proximal structure configured to be positioned extracorporeally relative to a patient and defining a primary axis, and a distal structure extending distally from the proximal structure and configured to be passed through a body wall and into a body cavity of the patient. The distal structure cooperates with the proximal structure to define a working channel sized and configured to receive and guide a surgical instrument distally therethrough. The distal structure includes a proximal portion and an angled distal portion. The angled distal portion defines a secondary axis that is angled relative to the primary axis. At least the angled distal portion of the distal structure is rotatable relative to proximal structure about the primary axis.