Co-manipulation Surgical Robot Arm with Automated Mode Switching
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Solution Overview
Problem
Current laparoscopic surgical systems face challenges in managing vision and access, with existing solutions being either imperfectly assisted by human assistants or requiring expensive, complex robot-assisted systems that limit workflow and instrument compatibility.
Innovation Solution
A co-manipulation surgical system with a robot arm that can be coupled to surgical instruments, featuring a controller that automatically switches between modes to maintain a static position, freely move based on force thresholds, and adjust impedance for weight compensation, allowing seamless positioning and manipulation of instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a complex robot-assisted system like Da Vinci is used, then surgical precision and automation are improved, but system cost, footprint, and device complexity increase significantly
Solution Approach 1:
The system divides the surgical robot into separate modular components: a mobile robotic arm unit that can be independently positioned and a stationary base unit. This segmentation allows the robotic arm to be moved to optimal positions for different surgical approaches without requiring the entire system to be reconfigured, reducing the effective complexity footprint in the operating room.
Solution Approach 2:
The robotic arm is designed with a universal interface that can accommodate multiple types of surgical instruments and attachments. The arm can perform various surgical tasks including cutting, suturing, and retraction by simply changing the attached instrument, eliminating the need for multiple specialized robotic systems and reducing overall system complexity.
2Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold instruments in position, then instrument positioning stability is improved, but manual interaction requirements and setup time increase
Solution Approach 1:
The robotic arm incorporates automated positioning and stabilization capabilities through its control system. The arm can autonomously maintain instrument position and make adjustments as needed during surgery without requiring manual intervention to lock or reposition mechanical retractors, thereby achieving stable positioning with minimal manual interaction.
3Ease of operation
If human assistants are used to hold retractors and laparoscopes, then workflow flexibility is improved, but positioning precision and surgeon interference increase
Solution Approach 1:
The robotic arm serves as an intermediary between the surgeon's commands and the surgical instruments. It translates the surgeon's intent into precise, stable instrument positioning and movements, eliminating the need for human assistants to physically hold instruments while maintaining the flexibility of surgeon-directed workflow. The robot acts as a mediator that provides both precision and workflow adaptability.
4Adaptability or versatility
If standard off-the-shelf surgical instruments are used, then instrument availability and surgeon familiarity are improved, but compatibility with complex robot-assisted systems decreases
Solution Approach 1:
The robotic arm features a universal mounting interface and control system that can accommodate standard off-the-shelf surgical instruments. This allows surgeons to use familiar instruments while benefiting from robotic assistance, eliminating the need for proprietary system-specific instruments and enhancing adaptability without increasing device complexity.
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
Enhances surgical precision and efficiency by allowing seamless instrument positioning and manipulation, reducing the need for extensive manual interaction and enabling the use of standard instruments, while providing adaptive gravity compensation and improved control during procedures.
Implementation Method 1
The controller may be programmed to apply an impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Implementation Method 2
cause the robot arm to move the laparoscope to maintain the target surgical instrument within the field of view of the laparoscope
Implementation Method 3
responsive to determining that force applied at the robot arm due to force applied at the handle of the surgical instrument exceeds a predetermined threshold
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.