Co-Manipulation Robot Arm With Adaptive Gravity Compensation
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access, with existing robotic systems being expensive, having a large footprint, and requiring system-specific instruments, leading to inefficient workflow and limitations in instrument manipulation.
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 seamless positioning and manipulation of instruments, including automatic instrument centering and adaptive gravity compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If complex robot-assisted systems are used to enhance laparoscopic surgical procedures, then surgical precision and automation are improved, but system cost, footprint, and device complexity increase significantly
Solution Approach 1:
The system divides the surgical robotic system into separate functional modules: a mobile robotic arm unit that can be independently positioned, a surgeon's console, and a patient cart. This segmentation allows each module to be optimized independently and reduces the overall system footprint while maintaining automated surgical capabilities.
Solution Approach 2:
The robotic arm is designed to accommodate multiple surgical instruments including laparoscopes, retractors, and other surgical tools through universal coupling mechanisms. This multi-functionality allows a single robotic system to perform various surgical tasks without requiring separate specialized systems, reducing overall device complexity and cost.
2Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then instrument positioning stability is improved, but manual interaction requirements and setup time increase
Solution Approach 1:
The robotic arm provides dynamic positioning capability that allows instruments to be easily repositioned during surgery by the surgeon through intuitive hand movements. This replaces static rail-mounted systems with a dynamically controllable system that maintains stability during operation while enabling easy repositioning when needed.
Solution Approach 2:
The robotic system includes automated features such as self-centering mechanisms and automated instrument tracking that reduce the need for continuous manual adjustment. The system can automatically maintain instrument positioning and stability, freeing the surgeon from constant manual interaction while preserving positioning accuracy.
3Manufacturing precision
If the robot arm maintains static position in passive mode, then surgical precision is improved, but responsiveness to surgeon input decreases
Solution Approach 1:
The robotic arm implements dynamic mode switching between passive and co-manipulation modes. In passive mode, the arm maintains a static position for precision during critical surgical moments. When the surgeon applies force exceeding a threshold, the system dynamically transitions to co-manipulation mode, allowing the arm to move freely and respond immediately to surgeon input, thus balancing precision with responsiveness.
Solution Approach 2:
The controller continuously monitors forces applied to the robotic arm and periodically switches between operational modes based on detected surgeon intent. This periodic assessment allows the system to maintain precision when needed while rapidly responding to surgeon commands, creating a rhythm of stability and responsiveness that optimizes both surgical precision and operational speed.
4Measurement precision
If impedance is applied to account for robot arm weight, then manipulation accuracy is improved, but movement viscosity increases
Solution Approach 1:
The controller dynamically adjusts the impedance parameter based on the surgical task and robot arm position. When high precision is needed, impedance is increased to compensate for arm weight and improve manipulation accuracy. When smooth movement is prioritized, impedance is reduced to decrease viscosity. This parameter adjustment allows the system to optimize the balance between accuracy and ease of operation in real-time.
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 efficiency by allowing seamless manipulation of surgical instruments, improving workflow, and reducing the need for extensive manual interaction, while maintaining precision and safety.
Implementation Method 1
The controller may be programmed to apply adaptive gravity compensation to the robot arm to compensate for weight of the surgical instrument
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.