Dual-Tool Robotic Arm Control in Confined Gynecologic Surgery
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Solution Overview
Problem
Existing medical robotic systems face challenges in efficiently maneuvering and actuating multiple tools within a confined surgical space, particularly in gynecological procedures, due to limitations in tool manipulation and integration with robotic arms, which hampers precise surgical operations.
Innovation Solution
A robotic arm system with adjustable segments and a tool holder capable of detachably mounting first and second tools, equipped with motor drives for rotational and axial movement, allowing for precise control of endoscopic viewing devices and tissue treatment tools, along with a fluid management system for enhanced surgical precision and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple tools are integrated into a single robotic arm system, then surgical versatility is improved, but device complexity increases
Solution Approach 1:
The robotic arm is divided into multiple segments (proximal arm segment, intermediate arm segments, distal arm segment) that can be independently positioned and oriented. Each segment contains its own drive mechanism, allowing independent control of tool movement along the arm's length while maintaining overall system integration for versatile surgical applications.
Solution Approach 2:
The robotic arm is designed with a universal tool holder interface that can accommodate multiple different tools (endoscopic viewing devices, resection devices, ablation devices, etc.). The drive mechanisms are configured to support various tool types through standardized coupling interfaces, enabling a single robotic arm system to perform multiple surgical functions.
2Manufacturing precision
If multiple drive mechanisms are provided for different tools, then tool actuation precision is improved, but device complexity increases
Solution Approach 1:
The drive mechanisms are segmented and distributed at different locations along the robotic arm. The proximal arm segment contains drives for positioning the tool holder, intermediate segments contain drives for adjusting tool orientation, and the distal segment contains drives for fine-tuning tool position. This segmentation allows each drive to be optimized for its specific function while maintaining overall system coordination.
Solution Approach 2:
The robotic arm incorporates multiple degrees of freedom with dynamically adjustable segment positions and orientations. The drive mechanisms enable real-time adjustment of arm segment angles and tool positions, allowing the system to adapt to varying surgical requirements and achieve precise tool actuation through coordinated movement of multiple segments.
3Measurement precision
If the robotic arm has multiple adjustable segments, then movement precision is improved, but device complexity increases
Solution Approach 1:
The robotic arm is segmented into multiple articulated segments connected by joints, with each segment capable of independent movement. This segmentation enables precise control of the distal end position through coordinated adjustment of individual segment angles, achieving high movement precision while distributing the mechanical complexity across multiple manageable components.
Solution Approach 2:
The robotic arm incorporates sensors and feedback mechanisms that monitor segment positions, orientations, and tool locations in real-time. This feedback information is used by the control system to adjust segment positions and maintain precise tool positioning, compensating for mechanical tolerances and improving overall movement precision through closed-loop control.
Data Source
AI summary
Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.