Gross Positioning System for Robotic Surgery
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Solution Overview
Problem
Current robotic surgical positioning systems are large, cumbersome, and require manual repositioning by surgical staff, which is time-consuming and can obstruct the surgical site, especially during minimally invasive procedures.
Innovation Solution
A gross positioning system comprising a base, arm links with rotational joints, and a slidable coupling component that allows for the robotic surgical device to be positioned within a patient's cavity through a single incision, increasing the device's degrees of freedom without increasing its size, and is controlled by a central processing unit and controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a robotic surgical positioning system is designed to be compact and minimally invasive, then the device size is reduced, but the workspace and accessibility to abdominal cavity become limited
Solution Approach 1:
The robotic system is divided into two independent components: a compact in-vivo robot for precise manipulation within the abdominal cavity, and an external gross positioning system for coarse repositioning. This segmentation allows each component to be optimized independently - the in-vivo robot remains small for minimally invasive access, while the external system provides the necessary workspace and repositioning capability.
Solution Approach 2:
The external gross positioning system acts as an intermediary between the surgeon and the in-vivo robotic device. It provides the workspace and repositioning functions that would otherwise require a larger device, while the in-vivo robot handles the precise surgical tasks. This intermediary approach resolves the contradiction by distributing functions across two systems.
2Ease of operation
If manual repositioning of surgical devices is performed by surgical staff, then the device can be repositioned, but operative time increases and stress on surgical staff increases
Solution Approach 1:
The in-vivo robotic device is equipped with self-repositioning capabilities through integrated sensors and actuators. The device can autonomously adjust its position and orientation within the abdominal cavity based on feedback from position sensors and collision detection, eliminating the need for manual intervention and reducing operative time.
Solution Approach 2:
The system incorporates continuous feedback from position sensors, collision detection mechanisms, and force sensors that enable the robotic device to automatically adjust its positioning. This closed-loop control allows the device to maintain optimal position without manual repositioning, reducing both operative time and surgical staff stress.
3Ease of operation
If manual repositioning of surgical devices is performed, then the device can be repositioned, but the surgical site becomes obstructed
Solution Approach 1:
The robotic device performs self-repositioning through autonomous control, eliminating the need for surgical staff to manually manipulate the device near the surgical site. The device uses its integrated sensors and actuators to adjust position without requiring external intervention that would obstruct the surgical field.
Solution Approach 2:
The repositioning function is extracted from the manual surgical process and transferred to an automated robotic system. The external gross positioning system handles coarse repositioning remotely, while the in-vivo robot handles fine adjustments, keeping surgical staff hands off the device and away from the surgical site during repositioning operations.
Data Source
AI summary
Disclosed herein are gross positioning systems for use with robotic surgical devices to provide gross positioning of the robotic surgical devices. The gross positioning systems have a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling component slidably coupled to the third arm link.