Co-manipulation Robot Arm for Constant Tension in Laparoscopic Surgery
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access, with assistants struggling to maintain constant tension on organs and instruments, leading to potential damage and variability in force application.
Innovation Solution
A co-manipulation surgical system with a robot arm that automatically switches between passive, co-manipulation, and haptic modes, allowing for seamless positioning and manipulation of surgical instruments, and applying appropriate impedance to maintain constant tension and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an assistant manually holds a retractor device to expose tissue during laparoscopic surgery, then the tissue can be exposed and held in position, but the assistant cannot maintain constant tension and position over time, leading to imperceptible weakening and potential damage to the organ
Solution Approach 1:
The robot arm autonomously adjusts and maintains retractor position and tension without continuous human intervention. The system self-corrects position drift and maintains constant force application through automated control, eliminating the need for the assistant to continuously adjust the retractor while performing surgical tasks
Solution Approach 2:
The patent replaces the manual mechanical system of assistant-held retractors with an automated robotic system. The robot arm with controlled impedance provides stable, constant tension without the variability and fatigue inherent in manual holding, substituting human physical control with automated mechanical control
2Reliability
If a rail-mounted orthopedic retractor is used to hold surgical instruments in position, then the instruments can be positioned and held, but extensive manual interaction is required to unlock, reposition, and lock the tool, reducing efficiency
Solution Approach 1:
The robot arm provides dynamic, on-demand repositioning capability. Unlike static rail-mounted systems that require manual locking and unlocking, the robotic system can smoothly and quickly adjust instrument positions throughout the surgical procedure, enabling rapid adaptation to changing surgical needs without manual intervention
Solution Approach 2:
The robotic system autonomously repositions instruments as needed during surgery without requiring manual interaction for locking, unlocking, or repositioning. The system self-adjusts to maintain optimal positioning, eliminating the time-consuming manual operations required by rail-mounted systems
3Measurement precision
If complex robot-assisted systems like Da Vinci are used to enhance laparoscopic procedures, then surgical precision and control are improved, but the systems are very expensive, have large footprint, and require unique system-specific instruments that surgeons must learn
Solution Approach 1:
The robotic system is designed to work with standard off-the-shelf surgical instruments rather than requiring proprietary system-specific instruments. This universal compatibility reduces cost, simplifies the system, and allows surgeons to use familiar tools while still benefiting from robotic assistance and precision
Solution Approach 2:
The patent extracts only the essential robotic assistance functions needed for retractor and instrument positioning, rather than implementing a full complex robotic surgical system. This selective approach provides precision control where needed while avoiding unnecessary complexity and cost associated with comprehensive robot-assisted systems
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
The system provides superior control and stability, allowing surgeons to easily maneuver instruments while maintaining constant tension, reducing the risk of damage and improving the consistency of force application during laparoscopic procedures.
Implementation Method 1
the controller may be programmed to apply a first impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
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 instruments while providing benefits associated with surgical robotics. 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 or a desired force applied by the instrument using the robot arm. For example, the robot arm may be moved automatically to maintain a constant tension force on an anatomical structure via the instrument in a constant tension mode.