Intraocular Snake Robot Rolling Joint Dexterity
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Solution Overview
Problem
Current retinal microsurgery instruments face limitations due to restricted degrees of freedom and workspace constraints, particularly in procedures like epiretinal membrane peeling and retinal vein cannulation, which require precise and flexible manipulation within the eye.
Innovation Solution
An integrated robotic intraocular dexterous manipulation device with a compact design, utilizing a stack of disc elements with curved surfaces and actuation wires to achieve 45 degrees of bending motion with two degrees of freedom, allowing for enhanced flexibility and precision within the eye.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rigid surgical instruments are used, then structural strength is maintained, but dexterity and flexibility within the eye are limited
Solution Approach 1:
The instrument is divided into multiple rigid segments (first segment, second segment, third segment) connected by articulation joints. This segmentation allows the instrument to achieve flexibility and dexterity within the confined ocular space while each individual segment maintains structural strength and rigidity for precise surgical manipulation.
Solution Approach 2:
The instrument incorporates articulation joints that enable dynamic movement between segments, allowing the distal end to be positioned at multiple orientations and angles relative to the proximal end. This dynamic capability provides enhanced dexterity for retinal microsurgery procedures while maintaining the structural integrity of each segment.
2Adaptability or versatility
If the instrument workspace is expanded, then surgical flexibility is improved, but contact stress between components increases
Solution Approach 1:
The instrument utilizes multi-axis articulation joints that enable movement in multiple dimensions (pitch, yaw, roll). This dimensional expansion allows the distal end to access various surgical sites within the eye from different angles, effectively expanding the functional workspace without requiring increased contact stress between components.
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 device provides improved dexterity and accuracy for retinal microsurgery by reducing contact stress between disc elements and enabling more optimal surgical angles, thereby enhancing the precision and efficiency of procedures like epiretinal membrane peeling and retinal vein cannulation.
Implementation Method 1
The disc elements are stacked alternating with the curved top and bottom surface of adjacent disc elements forming a rolling joint
Data Source
AI summary
A dexterous manipulation device is provided that includes disc element and actuation wires. In preferred systems, the disc elements each have a curved top surface and a corresponding curved bottom surface. The actuation wires are threaded through apertures of each disc element. In certain aspects, the disc elements are stacked alternating with the curved top and bottom surfaces of adjacent disc elements forming a rolling joint. In preferred systems, the device has a total of 45 degrees of bending motion with two degrees of freedom.