Flexible Camera Tube Positioning for Robotic Surgery
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Solution Overview
Problem
Existing camera systems for medical procedures, particularly in robotic surgery, face issues such as large size, poor resolution, sterilization challenges, and difficulties in replacement during procedures, limiting their reliability and effectiveness.
Innovation Solution
A visualization device with a flexible camera tube and rollers that can be rotated to extend or retract, allowing for precise positioning within a body cavity, while maintaining sterility and facilitating easy attachment to a robotic surgery apparatus, and including features like articulating cameras for improved imaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a camera system is miniaturized for use in body cavities, then the camera size is reduced, but the resolution deteriorates
Solution Approach 1:
The camera system is divided into separate modular components including the camera head, illumination source, and connection elements. This segmentation allows each component to be independently optimized - the camera head can be miniaturized while the image sensor and lens can be selected for high resolution performance.
Solution Approach 2:
The camera, illumination source, and other components are nested within a compact housing structure that allows them to be positioned in close proximity. This nesting arrangement minimizes the overall volume of the camera system while maintaining the functional integrity and resolution capabilities of each component.
2Volume of moving object
If a camera system is made compact for single-port access, then the device size is reduced, but sterilization becomes more difficult
Solution Approach 1:
The camera system is designed with separable components where the camera head and associated optics can be detached from the handle and other non-sterile components. This segmentation enables the sterile portions to be independently sterilized using standard medical sterilization protocols while the larger housing remains outside the sterile field.
Solution Approach 2:
The camera module is extracted as a separate sterilizable unit that can be processed independently. This extraction allows the critical optical components to be sterilized without requiring the entire robotic system to undergo sterilization, thus maintaining ease of manufacture and compliance with medical sterilization standards.
3Adaptability or versatility
If a camera tube is made flexible for navigation, then the ability to reach target sites is improved, but control precision deteriorates
Solution Approach 1:
The camera tube incorporates a dynamic control system with actuators that can actively adjust the position and orientation of the camera head in real-time. This dynamic capability allows the flexible tube to navigate to target sites while the control system maintains precise positioning by compensating for the flexibility of the tube through active adjustment.
Solution Approach 2:
The system includes feedback mechanisms such as position sensors and imaging feedback that allow the control system to monitor the actual position of the camera head and make real-time corrections. This feedback loop ensures that despite the flexibility of the tube, the camera can be precisely positioned and maintained at the desired location during the procedure.
4Reliability
If cameras are made replaceable during procedures, then reliability is improved, but device complexity increases
Solution Approach 1:
The camera system is designed with clearly defined modular interfaces that separate the camera head from the handle and connection elements. This segmentation creates standardized connection points that simplify the replacement process, allowing cameras to be swapped during procedures through straightforward attachment and detachment of modular components without requiring complex disassembly or reconfiguration.
Data Source
AI summary
A visualization device for a robotic surgery apparatus includes a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus. The housing includes first and second openings positioned on an exterior of the housing. The housing includes a substantially flexible camera tube with a first end attached to the housing and a second end including at least one camera. The second end is inserted through the first opening in the housing, pass through interior of the housing, and exit the housing through the second opening in the housing. The second end extends away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing. The camera tube forms a loop around a portion of the housing.