Co-manipulation Surgical System with Automated Robot Arm Configurations
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access, with existing systems requiring extensive manual interaction and complex, expensive robot-assisted systems that limit workflow 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 can be coupled to surgical instruments, featuring a controller that automatically switches between passive, co-manipulation, and haptic modes to assist in laparoscopic surgery, allowing for seamless instrument positioning and movement based on user input, while accounting for the weight of instruments and providing adaptive gravity compensation.
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 patent extracts the essential co-manipulation functionality from complex robot-assisted systems by implementing it through a surgical instrument handle with sensors that detect user inputs and transmit signals to control a robot arm. This separates the automation control logic from the mechanical system, achieving automation through a simpler, more modular architecture that reduces overall device complexity while maintaining surgical precision
Solution Approach 2:
The surgical instrument handle is designed to be universal and compatible with various surgical instruments while providing automated control through integrated sensors and processors. The handle can detect multiple types of user inputs (manual manipulation, gripping, releasing) and coordinate相应的 robot arm movements, making the system adaptable to different surgical procedures without requiring entirely different complex robotic systems for each application
2Measurement precision
If rail-mounted orthopedic retractors are used to hold surgical instruments, then instrument positioning is improved, but manual interaction and setup time increase
Solution Approach 1:
The system performs preliminary actions by pre-programming the robot arm with surgical procedure parameters and instrument positioning data before the surgical procedure begins. The robot arm automatically executes these pre-planned movements and positioning tasks, eliminating the need for manual setup and repositioning during the procedure, thereby reducing setup time while maintaining precise instrument positioning
Solution Approach 2:
The surgical instrument handle incorporates sensors that provide real-time feedback on user inputs and instrument position. This feedback loop allows the control processor to continuously adjust robot arm movements and instrument positioning automatically, replacing manual adjustment processes and reducing the time required for repositioning while maintaining measurement precision
3Ease of operation
If a robot arm is permitted to be freely moveable for co-manipulation, then ease of operation is improved, but control precision and stability deteriorate
Solution Approach 1:
The system implements dynamic control by allowing the robot arm to be freely moveable during co-manipulation operations while maintaining stability through active control algorithms. The robot arm can adapt its movement characteristics in real-time based on surgical requirements, providing ease of operation when movement is needed while maintaining positional stability when precision is required, resolving the contradiction between freedom of movement and positional control
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 enhances surgical precision and control by allowing seamless instrument manipulation, reducing manual interaction, and enabling the use of standard instruments, thus improving surgical efficiency and safety without the need for expensive, complex systems.
Implementation Method 1
rotation of the collar in a first direction relative to the link of the plurality of links to cause rotation of the distal link adjacent to the setup joint in a corresponding first direction relative to the proximal link adjacent to the setup joint
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.