Deformable Single-Port Cannulas for Surgical Arm Position Offsets
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Solution Overview
Problem
Existing single-port laparoscopic surgical robots face challenges in precise positioning of multiple mechanical arms due to limitations in motion control precision and angle, leading to difficulties in aligning end devices with intended surgical sites.
Innovation Solution
A single-port surgical device with deformable cannulas that allow for radial and axial deformation, enabling compensation for positioning errors and offsets of the motion arms, facilitating smooth entry of surgical instruments into desired surgical sites.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mechanical arms are used to position surgical instruments through a sheath sleeve, then surgical precision and stability are improved, but positioning accuracy deteriorates due to motion control precision and angle limitations
Solution Approach 1:
The cannula is designed with a deformable section that can dynamically change its configuration. The deformable section includes multiple segments that can relative move to each other, allowing the cannula to adapt its shape to compensate for positioning errors of the mechanical arm, thus maintaining positioning accuracy while preserving surgical stability
Solution Approach 2:
The cannula's physical parameters (shape, length, angle) are made changeable through the deformable section. By adjusting the relative positions and angles of the segments in the deformable section, the cannula can alter its configuration to compensate for mechanical arm positioning deviations, thereby resolving the contradiction between stability and positioning accuracy
2Device complexity
If mechanical arms with fixed configuration are used, then device complexity is reduced, but adaptability deteriorates when reaching positions within the sheath sleeve
Solution Approach 1:
The cannula incorporates a deformable section with segments that can relative move, transforming a static structure into a dynamic one. This allows the cannula to adapt its configuration to reach different positions within the sheath sleeve without complicating the mechanical arm structure, as the adaptability is achieved at the cannula level
Solution Approach 2:
The cannula is divided into a fixed section and a deformable section with multiple segments. The deformable section includes first, second, and third segments that can relative move to each other, enabling the cannula to achieve various configurations and reach different target positions while keeping the overall device complexity low
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 the precision and flexibility of surgical instrument placement, ensuring accurate alignment and entry into surgical sites despite mechanical arm positioning inaccuracies.
Implementation Method 1
at least a portion of the outer cannula section of at least one cannula of the one or more cannulas is deformable in a radial direction, an axial direction or the radial direction and the axial direction of the outer cannula section
Data Source
AI summary
A single-port surgical device includes a housing and one or more cannulas. The housing includes a proximal port and a distal port, the one or more cannulas include an inner cannula section and an outer cannula section, the inner cannula section is located in the housing and communicates with the distal port of the housing, the outer cannula section is located outside the proximal port of the housing, and at least a portion of the outer cannula section of at least one cannula of the one or more cannulas is deformable in a radial direction, an axial direction or the radial direction and the axial direction of the outer cannula section.