Ergonomic Manipulator for Minimally Invasive Surgery
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Solution Overview
Problem
Existing portable devices for minimally-invasive surgery guidance and manipulation are bulky due to complex transmission mechanisms, lacking sufficient rigidity and compactness, especially in the distal part of the manipulator, which hinders precise and efficient control of surgical instruments.
Innovation Solution
The use of gears and tubes or shafts for transmitting specific rotational and opening-closing movements, combined with cables for inclination movements, provides a rigid and compact transmission system, allowing for precise control of surgical tools with reduced bulk, including the implementation of conical pinions and actuators for forceps operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex transmission mechanisms are used to control surgical instruments, then control precision is improved, but device bulk and complexity increase
Solution Approach 1:
The patent implements nested transmission mechanisms where cable-driven actuators are integrated within the manipulator structure, and conical pinions are housed within the distal section. This nesting allows multiple transmission functions to coexist in a compact arrangement, achieving precise control without increasing overall device bulk
Solution Approach 2:
The patent replaces traditional rigid mechanical linkages with cable-driven actuation systems. The cables transmit control forces from the proximal section to the distal section, eliminating the need for bulky mechanical transmission components while maintaining control precision
2Strength
If rigid transmission mechanisms are used in the distal part of the manipulator, then transmission rigidity is improved, but device bulk increases
Solution Approach 1:
The patent applies different transmission mechanisms to different sections of the manipulator. The distal section, where high rigidity is needed for precise tool control, uses conical pinions and gear mechanisms. The proximal section uses flexible cable-driven actuation. This local differentiation provides rigidity where needed without increasing overall device bulk
3Adaptability or versatility
If multiple control members are mounted on the handle, then control functionality is improved, but ease of operation deteriorates due to finger strain
Solution Approach 1:
The patent segments the control functions into distinct control members mounted on the handle, each activated by different fingers or finger movements. This segmentation allows the operator to control multiple functions simultaneously with minimal finger strain, as each control member can be operated independently by a single finger or a simple finger movement
Data Source
AI summary
A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The control buttons (4a-4d) control at least a first inclination motor, which causes a movement of inclination of a tool support (5) of the work unit (3) about a transverse inclination axis (11), and they control the actual rotation of the tool support (5) about its direction of inclination (II) and control the orientation of the direction of inclination (II) about the longitudinal axis (I-I) of the connecting arm (2). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.