Hybrid Interventional Handpiece for Manual-Robotic Navigation
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Solution Overview
Problem
Current minimally invasive medical instruments lack a hybrid system that efficiently combines manual and robotic control for navigating complex anatomical passageways, limiting the flexibility and precision in interventional procedures.
Innovation Solution
A hybrid manual and robotic interventional instrument system that includes a handpiece with both manual and motorized drive components, allowing for manual control when decoupled from robotic systems and robotic control when coupled, with a tensioning system to maintain drive component engagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a minimally invasive interventional instrument uses manual control only, then the system is simple and easy to operate, but the precision and flexibility in navigating complex anatomical passageways is limited
Solution Approach 1:
The instrument incorporates a hybrid control system that dynamically transitions between manual and robotic control modes. The handpiece includes both manual actuators for direct clinician control and robotic drive inputs for automated control, allowing the system to adapt its degree of automation based on procedural needs. This dynamic architecture enables precise navigation through complex anatomical passageways while maintaining operational simplicity when full robotic control is not required.
2Adaptability or versatility
If a minimally invasive interventional instrument uses robotic control only, then the navigation precision and flexibility are improved, but the system complexity increases and manual adaptability is reduced
Solution Approach 1:
The handpiece is designed as a universal control interface that can operate in multiple modes: manual control mode where the clinician directly manipulates the instrument, robotic control mode where automated systems navigate the instrument, and hybrid mode where both control systems are integrated. The handpiece includes manual actuators, robotic drive inputs, and a tensioning system that works across all modes, providing versatile control flexibility without requiring separate instruments for different control approaches.
Solution Approach 2:
The control system is segmented into distinct functional components: manual actuators for direct clinician input, robotic drive inputs for automated control, and a tensioning system for maintaining drive component engagement. This segmentation allows each component to be optimized for its specific function while working together in a unified hybrid control architecture, reducing overall system complexity compared to a fully integrated robotic system.
3Productivity
If the instrument allows transition between manual and robotic control, then the versatility and precision are enhanced, but the device complexity and difficulty of operation increase
Solution Approach 1:
The handpiece merges manual and robotic control systems into a single integrated unit. Both manual actuators and robotic drive inputs are housed within the same handpiece body, sharing common drive components (tendons, cables, or shafts) that extend to the distal end of the instrument. This merging allows seamless transitions between control modes without requiring physical exchange of components or complex reconfiguration, maintaining ease of operation while enhancing procedural efficiency.
4Ease of operation
If the drive components are decoupled for manual control, then the ease of operation is improved, but the reliability of drive component engagement may be compromised
Solution Approach 1:
The tensioning system is designed to maintain drive component engagement under all operating conditions. Pre-tensioning elements (springs, pre-loaded cables, or biased mechanisms) are incorporated to ensure that drive components remain engaged with the handpiece during both manual and robotic control modes. This beforehand cushioning prevents disengagement or slack in the drive system, maintaining reliability while allowing easy manual operation when the instrument is decoupled from robotic control.
Data Source
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AI summary
A system comprises a handpiece body configured to couple to a proximal end of a medical instrument and a manual actuator mounted in the handpiece body. The system further includes a plurality of drive inputs mounted in the handpiece body. The drive inputs are configured for removable engagement with a motorized drive mechanism. A first drive component is operably coupled to the manual actuator and also operably coupled to one of the plurality of drive inputs. The first drive component controls movement of a distal end of the medical instrument in a first direction. A second drive component is operably coupled to the manual actuator and also operably coupled to another one of the plurality of drive inputs. The second drive component controls movement of the distal end of the medical instrument in a second direction.