Co-manipulation Surgical Robot Arm with Disposable Coupler
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Solution Overview
Problem
Current laparoscopic surgical systems face challenges in managing vision and access, with existing solutions being either imperfectly manual or excessively complex and costly, limiting the seamless positioning and manipulation of surgical instruments.
Innovation Solution
A co-manipulation surgical system with a robot arm that includes a proximal end, a distal end, a plurality of links, and joints, along with a controller that automatically switches between passive, co-manipulation, and haptic modes based on user input, allowing for precise and efficient manipulation of surgical instruments while accounting for the weight and position of the instruments and the robot arm.
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 robot arm system performs self-positioning and self-adjustment of surgical instruments automatically based on surgeon input, eliminating the need for manual unlocking, repositioning, and locking operations. The system serves itself by autonomously navigating to target positions and maintaining instrument placement without requiring assistant intervention.
Solution Approach 2:
The patent replaces the mechanical rail-mounted retractor system with a robotic arm system that uses motorized actuation and computer control instead of manual mechanical operations. This substitution eliminates the need for manual interaction with locks and positioning mechanisms while achieving precise instrument placement.
2Ease of operation
If a complex robot-assisted system like Da Vinci Surgical System is used, then the surgeon's ability to tele-operatively perform procedures is improved, but the system cost, footprint, and complexity increases significantly
Solution Approach 1:
The patent extracts the essential tele-operative functionality from the complex Da Vinci system and implements it in a simplified robot arm configuration. By taking out only the necessary components for remote manipulation and positioning, the system achieves tele-operative capability without the excessive complexity, cost, and footprint of the original system.
Solution Approach 2:
The robot arm is designed with universal coupling mechanisms that can accommodate various standard surgical instruments, replacing the need for system-specific proprietary instruments. This multi-functionality allows a single simplified robot arm to perform multiple surgical tasks without requiring the extensive instrument library and system complexity of the Da Vinci system.
3Measurement precision
If a robot arm with multiple links and joints is used for surgical instrument manipulation, then the positioning precision and control capability is improved, but the device complexity and weight increases
Solution Approach 1:
The robot arm is divided into multiple modular links and joints that can be independently controlled and positioned. This segmentation allows each segment to be optimized for specific functions while maintaining overall positioning precision, and enables the system to achieve complex movements through coordinated action of simpler individual components.
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.