Flexible Threaded Shaft Guide for Surgical Robot Positioning
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Solution Overview
Problem
The challenge in minimally-invasive surgery is the correct introduction and positioning of miniaturized robotic devices through parietal incisions and natural orifices, requiring a non-invasive and precise guiding and support system to ensure successful surgical operations.
Innovation Solution
A guiding and support device comprising a plurality of associated rigid bodies that transition between inactive and active configurations to form a flexible guide, utilizing flexible threaded shafts and a gearwheel for combined rotary and translational motion, allowing the robotic device to be introduced and positioned within a surgical area through a single parietal incision or natural orifice.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a miniaturized robotic device is introduced through a single parietal incision or natural orifice, then the invasiveness of the surgical procedure is reduced, but the difficulty of correct introduction and positioning of the robotic device increases
Solution Approach 1:
The guiding device is divided into multiple rigid bodies that can move relative to each other in the inactive state, allowing the device to be introduced through a small incision. Once positioned, the rigid bodies are locked together to form a rigid guide structure for precise robotic device positioning.
Solution Approach 2:
The guiding device transitions from an inactive flexible configuration (where rigid bodies can move relative to each other) to an active rigid configuration (where rigid bodies are locked together). This dynamic transformation allows the device to be both easily introduced and then provide stable positioning support.
2Stability of the object's composition
If the guiding and support device is made rigid to ensure stable positioning, then the positioning stability improves, but the ability to navigate through curvilinear paths decreases
Solution Approach 1:
The guiding device dynamically changes its mechanical properties from flexible to rigid based on operational requirements. During introduction, the rigid bodies move relative to each other to navigate curvilinear paths. Once positioned, the rigid bodies are locked together to provide stable positioning support.
Solution Approach 2:
The device consists of multiple rigid bodies that can move relative to each other, allowing the overall structure to be flexible during introduction while maintaining the rigidity of individual segments. When locked together, these segments form a stable rigid guide structure.
3Adaptability or versatility
If the guiding device is designed to be adjustable in length to reach different surgical areas, then the adaptability improves, but the device complexity increases
Solution Approach 1:
The guiding device is composed of multiple modular rigid bodies that can be connected in different configurations. The number and arrangement of rigid bodies can be adjusted to achieve the required length and curvature for different surgical applications, providing adaptability without excessive complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device enables stable and precise positioning of a robotic device within a surgical area, reducing invasiveness and providing a customizable curvilinear guide for optimal surgical access, ensuring reliable and safe robotic surgery.
Implementation Method 1
said means for combined rotary and translational motion comprise a pair of flexible threaded shafts, and a gearwheel configured to engage said pair of flexible threaded shafts, wherein the rotation of said flexible threaded shafts determines the translation of said gearwheel along said guide and/or the rotation of said gearwheel with respect to its own axis
Data Source
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AI summary
A guiding and support device (1), particularly for a robot (2) for minimally-invasive surgery through a single parietal incision and/or natural orifice, comprising: a plurality of mutually associated rigid bodies (3, 4), stiffening means (5) associated with the guiding and support device (1) and adapted for the transition of the device (1) from an inactive configuration, in which the rigid bodies (3, 4) can move with respect to each other, to an active configuration, in which the rigid bodies (3, 4) are mutually aligned so as to define a rigid guide (7), and vice versa, means (6) for combined rotary and translational motion which are adapted, in the active configuration of the guiding and support device (1), to translate and/or rotate a robot (2) along the guide (7). The means for combined rotary and translational motion (6) comprise a pair of flexible threaded shafts (60, 60'), and a gearwheel (61) configured to engage the pair of flexible threaded shafts (60, 60'), wherein the rotation of the flexible threaded shafts (60, 60') determines the translation of the gearwheel (61) along the guide (7) and/or the rotation of the gearwheel (61) with respect to its own axis, the gearwheel (61) being adapted to be associated rigidly with a robot (2).