Hyperdexterous Surgical Arms for Mobile Precision Control
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Solution Overview
Problem
Current minimally invasive surgical systems, including laparoscopic and robotic surgery, face limitations such as cumbersome mechanisms, restricted flexibility, inability to use manual and robotic tools simultaneously, and lack of natural motion control, leading to inefficiencies and reduced surgical dexterity.
Innovation Solution
A hyperdexterous surgical system with compact, modular, and mobile surgical arms that allow simultaneous use of manual and robotic tools, providing enhanced dexterity and flexibility through redundant degrees of freedom, allowing surgeons to operate from various positions and receive multiple frames of reference information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic arms with complex mechanisms are used, then surgical precision is improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The robotic arm is divided into multiple modular segments (base, shoulder, elbow, wrist modules) that can be independently controlled and assembled. Each segment contributes specific degrees of freedom, allowing complex surgical tasks to be achieved through coordinated simple motions rather than a single complex mechanism.
Solution Approach 2:
The robotic arm implements dynamic motion control with redundant degrees of freedom, allowing real-time adaptation of motion paths and speeds. The system can dynamically adjust between different motion modes (direct control, teleoperation, autonomous) to optimize both precision and operational simplicity.
2Ease of operation
If robotic tools are used, then surgical dexterity is improved, but ease of operation and flexibility deteriorate
Solution Approach 1:
The robotic arm is designed with universal end-effectors that can perform multiple surgical functions (cutting, grasping, suturing, cauterizing) through tool changes and programmable motions. The same robotic arm can adapt to different surgical procedures and anatomical locations, providing both dexterity and versatility.
Solution Approach 2:
The system implements dynamic task switching and motion adaptation, allowing the robotic arm to transition between different surgical tasks and control modes during procedures. Redundant degrees of freedom enable real-time reconfiguration of motion paths to maintain dexterity across various surgical scenarios.
3Adaptability or versatility
If manual tools are used, then flexibility is improved, but surgical precision and control deteriorate
Solution Approach 1:
The robotic arm serves as an intermediary between the surgeon's intent and the surgical tool, translating coarse manual movements into precise instrument motions. The system can operate in teleoperation mode where the surgeon maintains direct control while the robotic arm provides motion scaling and filtering to enhance precision.
Solution Approach 2:
The robotic system can adapt to different surgical styles and procedures, providing precision enhancement when needed while maintaining flexibility for complex adaptive tasks. The same platform supports both automated precision tasks and surgeon-controlled flexible operations.
4Area of stationary object
If robotic arms with large motion ranges are used, then workspace access is improved, but dead zones and interference increase
Solution Approach 1:
The robotic arm utilizes redundant degrees of freedom to access workspace volumes that would be inaccessible with minimal redundant systems. The extra dimensions of motion allow the arm to reach around obstacles and access deep anatomical regions without creating dead zones, by reconfiguring its posture in multiple ways.
Solution Approach 2:
The system dynamically adjusts its motion paths and configurations to avoid dead zones and interference areas. Real-time trajectory optimization uses the redundant degrees of freedom to find alternative paths that maintain workspace access while avoiding regions where control authority is lost or mechanical interference occurs.
Data Source
AI summary
A hyperdexterous surgical system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.