Deflectable Surgical Scope Shaft for Robotic Instrument Access
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Solution Overview
Problem
Conventional robotic surgical systems face limitations in the range of motion and access of surgical scopes and instruments due to rigid configurations, which restrict the reach and access of surgical instruments and increase the risk of collisions within the workspace.
Innovation Solution
The implementation of a surgical scope with a deflectable shaft portion and a surgical cannula with a distal articulation feature, allowing for greater flexibility and positioning options within the body cavity, and the use of adjustable arm supports with multiple degrees of freedom to enhance the positioning and orientation of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If rigid configurations are used for robotic surgical systems, then structural stability is maintained, but the range of motion and access of surgical scopes and instruments is limited
Solution Approach 1:
The robotic arm is divided into multiple segments with individual articulation joints, allowing each segment to move independently. This segmentation enables the surgical scope and instruments to reach complex positions within the body cavity while maintaining overall structural stability through the modular design.
Solution Approach 2:
The system transitions from rigid fixed configurations to dynamic adjustable configurations. The articulation joints and deflectable shaft portions allow real-time adjustment of the robotic arm and surgical scope positions, enabling adaptive movement to access different surgical sites while maintaining stability during procedures.
2Length of moving object
If rigid configurations are used, then positioning simplicity is maintained, but the reach and access of surgical instruments is restricted
Solution Approach 1:
The surgical scope incorporates a deflectable shaft portion that adds angular deflection capability beyond simple radial movement. This dimensional addition allows the scope to reach areas that would be inaccessible with straight rigid arms, extending the effective reach without proportionally increasing the physical arm length.
Solution Approach 2:
The deflectable shaft portion is nested within the robotic arm structure, with the articulation joint integrated into the arm's mechanical framework. This nested design extends the reach capability while keeping the overall structure compact and manageable, avoiding excessive external complexity.
3Adaptability or versatility
If multiple articulation features are added to increase flexibility, then the range of access is improved, but the risk of collisions within the workspace increases
Solution Approach 1:
The control system incorporates feedback mechanisms that monitor the positions of multiple articulation joints and deflectable shaft portions in real-time. This feedback enables the controller to adjust trajectories and avoid configurations that would cause collisions between the surgical scope, instruments, and robotic arm components during complex positioning maneuvers.
Solution Approach 2:
The system uses dynamic motion planning that continuously adjusts the movement of multiple articulation features based on real-time spatial relationships. This dynamic coordination ensures that while flexibility is maximized for access, the timing and paths of multiple moving parts are synchronized to prevent collisions within the constrained workspace.
Data Source
AI summary
An apparatus includes a scope base configured to be positioned extracorporeally relative to a patient. The scope base is configured to attach to at least one drive mechanism. The apparatus also includes an outer sheath extending distally from the scope base, an insertion channel extending through each of the scope base and the outer sheath, and a scope shaft actuatable relative to the scope base and slidably disposed within the insertion channel. The scope shaft includes a rigid proximal shaft portion configured to be driven by the at least one drive mechanism. The scope shaft also includes a deflectable distal shaft portion. The deflectable distal shaft portion is deflectable relative to the proximal shaft portion. The scope shaft further includes a distal end configured to provide visualization of a body cavity.