Co-Manipulation Surgical Robot Mode Switching for Tool Positioning
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Solution Overview
Problem
Existing surgical systems face challenges in managing vision and access during laparoscopic procedures, with human and mechanical solutions being impractical and complex robot-assisted systems requiring unique instruments and a large footprint.
Innovation Solution
A co-manipulation surgical system with a robot arm that can switch operational modes based on handle movements, applying forces and thresholds to seamlessly position and manipulate surgical instruments, including a controller that monitors and adjusts positions to maintain instruments within the field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a rail-mounted orthopedic retractor is used to hold surgical instruments in position, then the instrument positioning capability is improved, but the manual interaction complexity and time required to unlock, reposition, and lock the tool increases
Solution Approach 1:
The patent replaces the purely mechanical rail-mounted orthopedic retractor system with a robot arm system that can be controlled through software and automated sequences. The robot arm includes a controller that can automatically position instruments, reducing the need for manual unlocking, repositioning, and locking operations that characterize the mechanical retractor system.
Solution Approach 2:
The robot arm system can automatically return the surgical instrument to its initial position after use, and can be repositioned for subsequent instruments without requiring manual intervention for each adjustment. The system serves itself by automatically managing instrument positioning and storage, reducing the time loss associated with manual repositioning operations.
2Extent of automation
If complex robot-assisted systems like Da Vinci Surgical System are used, then surgical precision and automation are improved, but the system cost, footprint, and complexity increase significantly
Solution Approach 1:
The patent extracts the essential automation functions from complex robot-assisted systems like Da Vinci and implements them in a simplified robot arm configuration. Rather than using a full surgical robot system, the invention uses a simpler robot arm that can be integrated into existing surgical workflows with standard instruments, reducing overall system complexity while maintaining useful automation capabilities.
Solution Approach 2:
The robot arm is designed to work with standard off-the-shelf surgical instruments rather than requiring unique system-specific instruments. This universality allows the same robot arm to perform multiple surgical tasks with different instruments, reducing the overall complexity and cost compared to specialized robot-assisted systems that require dedicated instrument sets.
3Manufacturing precision
If complex robot-assisted systems are deployed, then surgical precision is improved, but the space requirement and footprint in the operating room increase
Solution Approach 1:
The robot arm system is designed to integrate into existing surgical operating rooms without requiring dedicated large-footprint infrastructure. The system can be positioned and operated within the existing surgical space, nesting the robotic functionality within the conventional operating room environment rather than requiring a separate specialized surgical robot platform.
4Adaptability or versatility
If unique system-specific surgical instruments are used with robot-assisted systems, then instrument compatibility with the system is improved, but the ability to use standard off-the-shelf instruments is lost
Solution Approach 1:
The robot arm is designed with a universal interface that can accommodate standard off-the-shelf surgical instruments rather than requiring proprietary instrument sets. This allows surgeons to continue using instruments they are already familiar with, eliminating the need to learn entirely new instrument handling techniques while still benefiting from robotic assistance.
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 seamless instrument positioning and manipulation, reducing the need for extensive manual interaction and allowing use of standard instruments, while maintaining optimal surgical visibility.
Implementation Method 1
cause the plurality of motors to apply a force at the distal end of the robot arm based on the modified operational mode of the robot arm
Implementation Method 2
apply a breakaway threshold to the robot arm based on the force applied at the distal end of the robot arm, the breakaway threshold being an external force required to be applied to the distal end of the robot arm to cause the robot arm to switch from the modified operational mode to the co-manipulation mode
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. 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.