Compact Remote Center Manipulator for Better Patient Access
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Solution Overview
Problem
Existing minimally invasive robotically-assisted medical systems often require bulky and heavy manipulators, which can complicate patient access and procedure efficiency, particularly in scenarios where a more compact and portable solution is needed.
Innovation Solution
A compact manipulator system featuring a linkage assembly with pulleys and drive member sections, such as belts or cables, that allows for rotation of a surgical instrument holder about a remote center of manipulation, enabling efficient and controlled motion while minimizing the size and weight of the manipulator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If traditional manipulators are used in minimally invasive surgical systems, then surgical precision and control are maintained, but the manipulator size and weight increase, making patient access difficult and reducing procedure efficiency
Solution Approach 1:
The patent applies nesting by placing one pulley inside another pulley, with the first pulley having a larger diameter and the second pulley having a smaller diameter that fits within the first pulley's interior space. This nested configuration allows both pulleys to occupy a compact volume, significantly reducing the manipulator's overall size and weight while maintaining the functional capability to rotate the instrument holder about the remote center of manipulation through coordinated pulley rotation.
2Adaptability or versatility
If multiple manipulators are mounted to a common platform, then surgical functionality is provided, but the system becomes bulky and unwieldy, complicating patient access
Solution Approach 1:
The patent applies nesting by placing one pulley inside another pulley, with the first pulley having a larger diameter and the second pulley having a smaller diameter that fits within the first pulley's interior space. This nested configuration allows both pulleys to occupy a compact volume, significantly reducing the manipulator's overall size and weight while maintaining the functional capability to rotate the instrument holder about the remote center of manipulation through coordinated pulley rotation.
Solution Approach 2:
The patent merges multiple functional components into a single integrated manipulator assembly. The linkage assembly combines the first and second pulleys with the instrument holder into one unified structure, eliminating the need for separate manipulator units and their supporting platforms. This consolidation reduces system volume while preserving surgical functionality.
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 compact manipulator design improves patient access and procedure efficiency by providing a lighter, more portable solution that maintains the precision and control necessary for minimally invasive surgical procedures.
Implementation Method 1
The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction
Implementation Method 2
The linkage assembly may comprise a first linkage arm comprising first and second pulleys
Data Source
AI summary
A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.