Co-Manipulation Robot Arm Control With Optical Depth Sensing
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Solution Overview
Problem
Existing laparoscopic surgical systems face challenges in managing vision and access, with mechanical solutions requiring extensive manual interaction and robot-assisted systems being expensive and space-consuming, while also necessitating the use of system-specific instruments.
Innovation Solution
A co-manipulation surgical system with a robot arm and controller that automatically switches between passive, co-manipulation, and haptic modes, allowing seamless positioning and manipulation of surgical instruments, and includes optical scanners for depth data measurement and instrument identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then the instruments can be held stable during the procedure, but extensive manual interaction is required to unlock, reposition, and lock the tools
Solution Approach 1:
The robot arm system automatically positions and maintains surgical instruments without requiring manual unlocking, repositioning, or locking operations. The system serves itself by using automated control to adjust instrument positions based on surgical needs, eliminating the extensive manual interaction required by traditional rail-mounted retractors while maintaining stable instrument positioning throughout the procedure.
2Extent of automation
If complex robot-assisted systems like Da Vinci Surgical System are used, then laparoscopic procedures can be enhanced with tele-operated control, but the systems are very expensive and have a very large footprint
Solution Approach 1:
The patent extracts the essential automated positioning and control functions from complex robot-assisted systems like Da Vinci, implementing only the core capabilities needed for laparoscopic procedures. This approach maintains tele-operated control and automated instrument manipulation while eliminating unnecessary system complexity, resulting in a more compact and cost-effective solution that doesn't require the full infrastructure of expensive robotic surgical systems.
3Extent of automation
If complex robot-assisted systems are used, then surgical procedures can be automated, but unique system-specific surgical instruments are required that are incompatible with standard off-the-shelf instruments
Solution Approach 1:
The robot arm system is designed with universal compatibility to work with standard off-the-shelf surgical instruments rather than requiring proprietary system-specific tools. The automated positioning and control mechanisms can accommodate various instrument types and sizes, allowing surgeons to use familiar standard instruments while still benefiting from automated surgical procedure support and tele-operated control capabilities.
4Productivity
If assistants are used to hold retractor devices and laparoscope devices, then the surgeon can focus on the procedure, but the assistants must hold tools in impractical positions and the system is inherently imperfect
Solution Approach 1:
The patent replaces the mechanical system of human assistants physically holding and positioning instruments with an automated robot arm system. The robot arm can maintain instruments in optimal positions for extended periods without fatigue, can quickly adjust positions as needed, and eliminates the impractical positioning requirements that assistants face when manually holding retractors and laparoscopes from between the surgeon's arms.
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
Enables efficient, space-saving, and instrument-compatible laparoscopic surgery without manual interaction, providing precise instrument positioning and collision avoidance, while supporting standard surgical tools.
Implementation Method 1
an optical scanner that may measure depth data
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.