Co-Manipulation Robot Arm With Optical Sensing for Laparoscopic Positioning
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Solution Overview
Problem
Current laparoscopic surgical procedures require significant manual interaction and use of complex, expensive robot-assisted systems that limit workflow flexibility and require unique instruments, making it difficult for surgeons to seamlessly position and manipulate surgical instruments.
Innovation Solution
A co-manipulation surgical system with a robot arm that automatically switches between passive, co-manipulation, and haptic modes based on user input, using a controller to manage impedance and position surgical instruments, and incorporates optical scanners for depth data and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If complex robot-assisted systems are used to enhance laparoscopic surgical procedures, then surgical precision and control are improved, but system cost, footprint, and complexity increase significantly
Solution Approach 1:
The system is divided into separate functional modules: a mobile robotic platform for instrument manipulation, a stationary optical scanner for depth mapping, and a control system for coordinating their operations. This segmentation allows each component to be optimized independently while reducing overall system complexity and cost.
Solution Approach 2:
The robotic arm is designed to accommodate multiple surgical instruments including graspers, scissors, and retractors through a universal coupling mechanism. The system can perform both automated instrument manipulation and collaborative manipulation with the surgeon, providing multi-functional capability without requiring separate specialized systems.
2Device complexity
If traditional manual manipulation methods are used, then system simplicity is maintained, but workflow efficiency and surgical precision deteriorate
Solution Approach 1:
The robotic arm autonomously performs instrument manipulation tasks including positioning, grasping, and manipulating surgical tools based on pre-planned trajectories and real-time optical feedback. The system self-corrects its position using depth data from the optical scanner, reducing the need for constant manual intervention while maintaining high workflow efficiency.
Solution Approach 2:
The optical scanner continuously captures depth data of the surgical site and feeds this information back to the control system, which adjusts the robotic arm's movements in real-time. This closed-loop feedback mechanism enables precise instrument manipulation while maintaining system simplicity through automated control.
3Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold instruments in position, then instrument stability is improved, but manual interaction requirements and time consumption increase
Solution Approach 1:
The robotic arm provides dynamic instrument positioning and stabilization, adjusting its grip and position in real-time based on surgical needs and optical feedback. Unlike static rail-mounted systems, the robotic arm can actively compensate for movements and maintain instrument stability throughout the procedure without requiring manual repositioning or locking operations.
Solution Approach 2:
The system replaces manual mechanical locking and positioning mechanisms with an automated robotic manipulation system controlled by software and guided by optical depth data. This substitution eliminates the need for time-consuming manual interactions with locks and adjustment mechanisms while maintaining instrument stability.
4Reliability
If unique system-specific surgical instruments are used, then compatibility with the robot-assisted system is improved, but adaptability and versatility of the system deteriorate
Solution Approach 1:
The robotic arm incorporates a universal coupling interface that can accommodate multiple types of surgical instruments including graspers, scissors, retractors, and other standard laparoscopic tools. This universal design allows the system to work with diverse instruments while maintaining reliable control and manipulation capabilities.
Solution Approach 2:
The control system dynamically adapts its manipulation strategy based on the specific instrument being used, adjusting grip force, movement speed, and trajectory parameters to optimize performance for each instrument type. This dynamic adaptation enables the system to maintain high reliability and precision across a versatile range of surgical tools.
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 manipulation of surgical instruments, improves workflow efficiency, and enhances safety by reducing manual interaction, allowing surgeons to use standard instruments while maintaining precise control and avoiding collisions.
Implementation Method 1
a plurality of optical sensors coupled to the platform and configured to collect depth data
Implementation Method 2
wherein the controller may be programmed to apply a first impedance to the robot arm in the co-manipulation mode
Implementation Method 3
thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode
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.