Endoluminal Robotic Suturing via Needle Rotation
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Solution Overview
Problem
Existing endoscopic stitching devices are inefficient and ineffective for endoluminal suturing due to the challenges of working through small openings during surgical procedures.
Innovation Solution
An endoluminal robotic system with a needle driver tool and grasping tool, controlled by a processor, that drives a suture needle through defects in a purse-string pattern, adjusts based on defect size and suture loop distance, and uses insufflation pressure to determine and address leaks, facilitating efficient suturing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If hand-held and hand-actuated endoscopic stitching devices are used, then the suturing process can be facilitated, but the devices are ineffective and inefficient in endoluminal applications due to small openings
Solution Approach 1:
The patent replaces manual hand-held stitching devices with an automated robotic system that performs suturing through small endoluminal openings. The robotic system uses computer-controlled needle drivers and grasping tools to execute precise suturing motions, substituting manual mechanical operations with automated robotic mechanisms that are better suited for constrained endoluminal environments
Solution Approach 2:
The patent changes the operational parameters by using a robotic system with multiple degrees of freedom and computer-controlled actuation, allowing for precise control of needle insertion angles, depths, and suture tension. This enables effective suturing through small openings by optimizing parameters such as needle trajectory, suture loop size, and pulling force that cannot be easily controlled with manual devices
2Ease of operation
If hand-held endoscopic stitching devices are used, then some suturing capability is provided, but precision and accuracy are insufficient for effective defect closure
Solution Approach 1:
The robotic system replaces manual stitching devices with computer-controlled mechanisms that provide superior precision. The system uses robotic arms with multiple joints and computer-controlled needle drivers to achieve accurate needle insertion, precise suture placement, and controlled tensioning, all of which exceed the precision achievable with manual devices
Solution Approach 2:
The system uses imaging and sensing to create a digital representation of the defect and surrounding anatomy, then uses this information to plan and execute the suture path. The robotic system can replicate ideal suture patterns and trajectories that are pre-planned based on imaging data, ensuring consistent precision across different surgical scenarios
3Productivity
If robotic automation is implemented for suturing, then precision and efficiency are improved, but system complexity increases
Solution Approach 1:
The robotic system is designed with multi-functional tools that can perform multiple suturing operations. The needle driver can execute different suture patterns (interrupted, continuous, purse-string), and the system can adapt to various defect sizes and locations using the same basic robotic architecture, reducing overall system complexity through versatility
Solution Approach 2:
The robotic system incorporates automated features such as self-alignment mechanisms, automatic needle loading, and computer-controlled tensioning that reduce the need for complex manual manipulation. The system can autonomously execute pre-planned suture paths and adjust parameters based on real-time feedback, reducing operational complexity
Data Source
AI summary
An endoluminal robotic system includes at least one robotic arm that operates tools to perform suturing procedures. The tools may include at least one of a suture needle driver tool, an endoscope, and a grasping tool. Methods performed by the endoluminal robotic system include driving a suture needle through anterior and posterior sides of a defect using the suture needle driving tool, the end portion of which is rotated after passing through tissue, to form a desired suture pattern. Then, the two ends of the suture thread are pulled and tied together to form a knot. Methods performed by the endoluminal robotic system also include overlaying a suture needle path on an image captured by the endoscope and controlling the at least one robotic arm to operate the driving tool and the suture needle driver tool based on the overlaid suture needle path.