Dynamic Trocar Positioning for Robotic Surgery
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Solution Overview
Problem
Robotic surgical systems face challenges in minimizing tissue damage and trauma to the abdominal wall during minimally invasive surgery due to the need for precise control of trocar cannula positioning, which can result in excessive deformation and trauma during tilting, especially when using a distally positioned remote center for enhanced access.
Innovation Solution
The robotic surgical system incorporates a control tower that dynamically adjusts the remote center of the trocar cannula based on predefined maximum allowable deformation values and force limits, accessed through a database correlating body regions with deformation or force values, to minimize lateral deformation and trauma while maintaining enhanced access and reach.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a distally positioned remote center is used for trocar cannula tilting to enhance surgical access and reach, then surgical access and reach are improved, but lateral deformation and trauma to the abdominal wall increase
Solution Approach 1:
The patent implements dynamic adjustment of the remote center position along the trocar cannula axis based on real-time feedback from force sensors. The control tower continuously monitors forces and deformations, and adjusts the remote center location to optimize between surgical access and minimizing tissue trauma, rather than using a fixed distal position throughout the procedure
Solution Approach 2:
The system incorporates force sensors that provide real-time feedback on forces applied to the abdominal wall during trocar tilting. This feedback is processed by the control tower, which adjusts the remote center position and tilting parameters to maintain forces within safe thresholds, preventing excessive lateral deformation while preserving surgical access capabilities
2Object-affected harmful factors
If dynamic adjustment of remote center is implemented to minimize lateral deformation, then tissue trauma is reduced, but device complexity increases
Solution Approach 1:
The control tower automatically processes force sensor data and adjusts the remote center position without requiring manual intervention from the surgeon. The system self-regulates by comparing real-time force measurements against predefined thresholds and autonomously modifying trocar positioning parameters to minimize tissue trauma while maintaining surgical effectiveness
Solution Approach 2:
The patent replaces complex mechanical adjustment mechanisms with a control software system that uses algorithms to calculate optimal remote center positions based on force feedback. This software-based control substitutes for what would otherwise require complex mechanical linkages and manual adjustment mechanisms, reducing overall device complexity while achieving the same protective function
Data Source
AI summary
A robotic surgical system includes a robotic arm, a surgical device coupled with the robotic arm and configured to extend through a body wall of a patient, and a controller in communication with the robotic arm. The controller is configured to determine a position of the surgical device relative to the patient. The controller is also configured to acknowledge a maximum allowable metric associated with the body wall at the determined position, and determine a metric associated with the body wall at the determined position. The controller is furthermore configured to drive the robotic arm to manipulate the surgical device such that the determined metric does not exceed the maximum allowable metric.