Cannula Remote Center of Motion Alignment
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Solution Overview
Problem
Current robotic medical systems face challenges in providing stable and efficient access to internal anatomical sites during minimally invasive procedures, particularly in maintaining the remote center of motion for cannulas, which can lead to unnecessary trauma and procedural complications due to misalignment and slippage.
Innovation Solution
The development of cannulas with ridges and multiple defined remote centers of motion, along with advanced robotic systems that include cart-based and table-based configurations, allows for precise positioning and stabilization of medical instruments, enabling robotic manipulation and control to maintain the remote center of motion, reducing trauma and improving procedural efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If robotic systems use cannulas for minimally invasive procedures, then patient trauma is reduced, but stability and control of the cannula are compromised leading to misalignment and slippage
Solution Approach 1:
The cannula is divided into multiple functional segments: a shaft portion with ridges for engagement, a bowl portion for instrument reception, and a flange for positioning. This segmentation allows each portion to perform its specific function optimally while maintaining overall stability
Solution Approach 2:
The shaft portion of the cannula features circumferential ridges that provide localized engagement with tissue at specific depths, creating stable anchor points without requiring the entire cannula to be invasive. This local quality improvement maintains stability while minimizing overall trauma
2Ease of operation
If the cannula is pivoted about a remote center of motion, then access to internal sites is improved, but misalignment causes unnecessary trauma and procedural complications
Solution Approach 1:
The system incorporates sensors and control mechanisms that provide real-time feedback on cannula position and orientation. This feedback allows the robotic system to maintain precise alignment with the remote center of motion, preventing misalignment-related trauma while preserving improved access to internal sites
Solution Approach 2:
The patent replaces manual mechanical positioning with robotic actuation and control systems. This substitution enables more precise and consistent maintenance of the remote center of motion alignment, reducing human error and associated trauma
3Adaptability or versatility
If multiple remote centers of motion are defined, then procedural versatility is improved, but system complexity increases
Solution Approach 1:
The robotic system is designed with universal capabilities to handle multiple remote centers of motion through a single integrated platform. The system can adapt to different procedural requirements by reconfiguring the same hardware components, avoiding the need for multiple specialized systems and reducing overall complexity
Data Source
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AI summary
A cannula includes a funnel portion and a tubular portion extending distally from the funnel portion. The tubular portion defines a longitudinal axis. An inner lumen extending through the tubular portion permits a medical instrument to be advanced or retracted through the tubular portion. A first visual indicator on the tubular portion is indicative of a first defined remote center of motion about which the tubular portion is pivotable by a robotic system, and a second visual indicator on the tubular portion and spaced apart axially from the first visual indicator is indicative of a second defined remote center of motion about which the tubular portion is pivotable by a robotic system.