Co-Manipulation Robot Arm Mode Switching for Laparoscopic Safety
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access due to the limitations of human and mechanical assistants, including the need for extensive manual interaction and the use of expensive, space-consuming robot-assisted systems that require unique instruments and complex workflows.
Innovation Solution
A co-manipulation surgical system with a robot arm that automatically switches between passive, co-manipulation, and haptic modes based on user input and environmental conditions, allowing seamless positioning and manipulation of surgical instruments while accounting for the weight and impedance of the instruments and the robot arm, and featuring a controller that adjusts impedance to facilitate precise movements and prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a rail-mounted orthopedic retractor is used to hold surgical instruments in position, then the instrument positioning capability is improved, but the ease of operation deteriorates due to extensive manual interaction required to unlock, reposition, and lock the tool
Solution Approach 1:
The patent replaces the purely mechanical rail-mounted orthopedic retractor system with a robot arm system that can be controlled through software and sensors. The robot arm includes a controller that can automatically position and hold surgical instruments, eliminating the need for manual unlocking, repositioning, and locking operations while maintaining stable instrument positioning throughout the surgical procedure
Solution Approach 2:
The robot arm system is designed to autonomously maintain instrument positioning without requiring continuous manual intervention. The controller monitors the position of the robot arm and surgical instruments, automatically making adjustments to maintain optimal positioning, thereby providing self-service functionality that reduces manual interaction while preserving positioning stability
2Manufacturing precision
If a complex robot-assisted system such as the Da Vinci Surgical System is used, then the surgical precision is improved, but the device complexity and cost increase significantly
Solution Approach 1:
The patent extracts the essential functionality needed for surgical precision from the complex Da Vinci Surgical System, creating a simplified robot arm system that focuses specifically on positioning and manipulating surgical instruments. By removing unnecessary components and features, the system achieves comparable surgical precision with reduced complexity and lower cost
Solution Approach 2:
The robot arm system is designed to be compatible with standard off-the-shelf surgical instruments rather than requiring unique system-specific instruments. This universal approach allows the system to perform multiple surgical functions using commonly available tools, reducing overall system complexity and cost while maintaining surgical precision
3Reliability
If the robot arm applies high impedance to prevent movement outside haptic barrier, then the safety is improved, but the ease of operation deteriorates due to more viscous movement
Solution Approach 1:
The patent implements dynamic impedance control where the robot arm adjusts its impedance characteristics in real-time based on the operational context. When the robot arm is within the haptic barrier, it applies low impedance for smooth, easy operation. When the robot arm approaches or exceeds the haptic barrier, the controller dynamically increases impedance to prevent unsafe movements, thereby maintaining both ease of operation during normal use and safety during boundary conditions
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 system enhances surgical precision and efficiency by allowing seamless instrument manipulation without the need for extensive manual interaction, using off-the-shelf instruments, and reducing the complexity of workflows, while maintaining sterility and optimizing instrument positioning and movement.
Implementation Method 1
The controller may be programmed to apply an impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Implementation Method 2
The controller may be programmed to apply a second impedance to the robot arm in the haptic mode greater than the first impedance, thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode than in the co-manipulation mode
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.