Co-Manipulation Robot Arm for Laparoscopic Instrument Hold Force
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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, which limits the seamless positioning and manipulation of 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 positioning and manipulation of instruments while accounting for the weight and impedance of the instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a complex robot-assisted system like Da Vinci Surgical System 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 robotic systems, implementing it through a wearable device that directly couples to standard surgical instruments. This separates the core assistance function from the unnecessary complexity of full robotic systems, achieving automation benefits while reducing device complexity and cost.
Solution Approach 2:
The wearable device acts as an intermediary between the surgeon and standard surgical instruments, providing robotic-like assistance without requiring specialized robotic instruments. This mediator enables seamless positioning and manipulation of common instruments while maintaining simplicity and compatibility with existing surgical workflows.
2Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold instruments, then positioning stability is improved, but ease of operation deteriorates due to extensive manual interaction required
Solution Approach 1:
The wearable device enables the instrument to serve itself by providing active positioning and stabilization through the wearable's actuators and sensors. The system automatically maintains optimal instrument positioning without requiring manual locking, unlocking, or repositioning operations, thereby improving ease of operation while preserving positioning stability.
Solution Approach 2:
The system transitions from static mechanical locking (rail-mounted retractors) to dynamic active control through the wearable device. The wearable continuously adjusts instrument positioning based on real-time feedback, providing both stability and ease of operation through automated dynamic adjustment rather than manual static locking.
3Extent of automation
If system-specific surgical instruments are used with complex robotic systems, then automation capability is improved, but adaptability deteriorates as surgeons cannot use standard off-the-shelf instruments
Solution Approach 1:
The wearable device is designed to work with standard off-the-shelf surgical instruments through universal coupling mechanisms, making the robotic assistance system universally applicable to multiple instrument types. This enables surgeons to maintain adaptability and use familiar instruments while still benefiting from automated positioning and control capabilities.
4Ease of operation
If assistants manually hold retractor and laparoscope devices, then ease of operation for the surgeon is improved, but productivity deteriorates due to workflow limitations and impractical positioning requirements
Solution Approach 1:
The wearable device replaces the mechanical system of manual holding by assistants with an automated electromechanical system. The wearable's actuators and sensors provide active positioning and stabilization of instruments, freeing the surgeon from workflow limitations and improving productivity while maintaining ease of operation through natural instrument manipulation.
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 efficiency by allowing seamless positioning and manipulation of surgical instruments, reducing the need for extensive manual interaction and system-specific instruments, and providing adaptive gravity compensation, thus improving surgical workflow.
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
Implementation Method 2
The controller may be programmed to apply a second impedance to the robot arm in the haptic mode greater than the first impedance, thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode than in the co-manipulation mode
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.