Interleaved Manipulator Hybrid Actuation for MIS Precision
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Solution Overview
Problem
Minimally invasive surgical (MIS) systems based on flexible manipulators face limitations in high-performance manipulation tasks due to their soft compliant structure and internal friction, which result in poor position and force regulation, restricting their use to simpler procedures.
Innovation Solution
The development of interleaved manipulators that combine flexible segments with small, limited stroke rigid-link actuators and tendons, allowing for enhanced motion control and feedback-driven correction, enabling precise manipulation and interaction with tissue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If flexible manipulators are used in MIS systems, then safety characteristics are improved, but position and force regulation deteriorate
Solution Approach 1:
The patent combines flexible segments with rigid actuators to create a hybrid manipulator structure. The flexible segments provide safety and compliance when contacting tissue, while the rigid actuators embedded within or coupled to these segments provide precise position and force regulation. This composite approach resolves the contradiction by integrating both compliant and rigid characteristics in a single system.
2Object-affected harmful factors
If soft compliant structure is used, then safety is improved, but manipulation performance deteriorates
Solution Approach 1:
The manipulator is divided into multiple flexible segments with rigid actuators positioned at specific locations along the length of the manipulator. This segmentation allows different portions of the manipulator to have different characteristics - flexible for safety and rigid for precision control - enabling both safe operation and high-performance manipulation tasks simultaneously.
3Ease of manufacture
If internal friction in flexible manipulators is present, then ease of manufacture is improved, but control precision deteriorates
Solution Approach 1:
The patent incorporates feedback mechanisms that sense the position and force of the manipulator segments and use this information to adjust actuator commands in real-time. This feedback compensation counteracts the effects of internal friction in the flexible segments, maintaining high control precision despite the presence of frictional forces that would otherwise degrade performance.
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
This approach enables safe and precise manipulation in minimally invasive procedures by providing a wide range of motion, fine motor control, and accurate placement of tools, overcoming the limitations of traditional flexible manipulators.
Implementation Method 1
each segment having an outer wall that extends between respective ends of the segment, in which the outer wall elastically flexes upon the application of force to the outer wall
Data Source
AI summary
Various apparatuses and methods involve flexible components for insertion into tissue, such as for minimally-invasive surgical procedures. As consistent with one or more embodiments, an apparatus includes a plurality of elongated flexible segments and one or more rigid actuators coupled between the flexible segments. One or more tendons extend within and moves the flexible segments, which elastically flex upon insertion into tissue. Each rigid actuator also operates to move one or more of the flexible segments, providing further movement control. A manipulator circuit is coupled to each rigid actuator and operates to position one or more of the segments by actuating the rigid actuator (e.g., via electrical and/or mechanical input).