Co-Manipulation Robot Arm for Laparoscopic Instrument Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing laparoscopic surgical systems face challenges in managing vision and access, with human assistants struggling to anticipate the surgeon's needs and complex robot-assisted systems being costly, space-intensive, and requiring unique 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 instrument positioning and manipulation, using a base with rotatable joints and motors, and optical scanners for instrument identification and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If complex robot-assisted systems are used to assist with laparoscopic surgery, then the ability to position and manipulate surgical instruments is improved, but the cost, space requirements, and system complexity increase significantly
Solution Approach 1:
The surgical system is divided into separate functional modules: a mobile robotic arm for instrument manipulation, a stationary console for control, and standalone surgical instruments. This segmentation allows the complex functions to be distributed, reducing the complexity burden on any single component and enabling easier operation of the robotic arm itself.
Solution Approach 2:
The robotic arm is designed to be compatible with standard off-the-shelf surgical instruments rather than requiring unique system-specific tools. This universality allows the same robotic arm to perform multiple surgical tasks with different instruments, reducing overall system complexity while maintaining ease of operation across various procedures.
2Ease of operation
If complex robot-assisted systems are used to assist with laparoscopic surgery, then the ability to position and manipulate surgical instruments is improved, but the cost and space requirements increase significantly
Solution Approach 1:
By separating the robotic arm from the control console and placing them in different locations, the system distributes its physical footprint. The mobile robotic arm occupies minimal space near the patient, while the console can be positioned elsewhere in the operating room, reducing concentrated space requirements.
Solution Approach 2:
The robotic arm is designed with mobile capabilities, allowing it to be repositioned as needed during surgery rather than requiring a fixed, space-consuming installation. This dynamic positioning reduces the permanent space footprint while maintaining full functionality for instrument manipulation.
3Ease of operation
If rail-mounted orthopedic retractors are used to hold surgical instruments, then instrument positioning is improved, but extensive manual interaction is required
Solution Approach 1:
The robotic arm provides automated positioning and holding of surgical instruments without requiring manual intervention for locking or repositioning. The system serves itself by autonomously adjusting instrument positions based on surgical needs, eliminating the time-consuming manual operations required by rail-mounted retractors.
Solution Approach 2:
The robotic arm offers dynamic, continuous adjustment capability compared to the static, discrete positioning of rail-mounted retractors. This allows smooth transitions between positions without the need to unlock, reposition, and lock mechanisms, significantly reducing the time and manual effort required.
4Adaptability or versatility
If standard off-the-shelf surgical instruments are used with complex robot-assisted systems, then instrument compatibility is improved, but the surgeon must learn entirely new procedures
Solution Approach 1:
Instead of requiring the surgeon to adapt to the robot's control interface, the system is designed so the surgeon manipulates familiar instruments in their usual manner while the robotic arm adapts to follow and assist those natural movements. This inverts the traditional approach, maintaining the surgeon's existing workflow while adding robotic enhancement.
Solution Approach 2:
The robotic arm acts as an intermediary between the surgeon's manual manipulation of standard instruments and the desired surgical outcomes. It translates the surgeon's natural instrument handling into coordinated robotic assistance, bridging the gap between familiar surgeon actions and enhanced surgical capabilities without requiring relearning.
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.