Joystick-Guided Laparoscopic Insertion Tool for Single-Incision Maneuvering
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Solution Overview
Problem
Existing minimally invasive surgical instruments face challenges with limited freedom of motion and require additional incisions or complex robotic systems that occupy space and increase surgical complexity, necessitating a need for simpler, more maneuverable devices that do not rely on external assistants for orientation and can operate within a single incision.
Innovation Solution
An insertion tool with a joystick module, pulley system, and articulating segments that allow for precise control of an insertable device, enabling it to be maneuvered within a single incision through a combination of pulleys, motors, and flexible articulating segments, allowing for a wide range of motion without the need for additional incisions or external robotic systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional endoscope is used during minimally invasive surgery, then the surgical site can be viewed, but an assistant is required to hold and orient the endoscope, adding to surgical complexity
Solution Approach 1:
The insertable device is self-oriented using magnetic interaction between magnets in the device and magnets or ferromagnetic materials in surgical instruments or the patient's body, eliminating the need for an assistant to manually orient the endoscope
Solution Approach 2:
Manual mechanical orientation by an assistant is replaced with magnetic field-based automatic orientation, where magnets in the insertable device interact with magnets or ferromagnetic materials to automatically orient the device toward the surgical site
2Stability of the object's composition
If robotic systems like AESOP or AutoLap are used to automate endoscope orientation, then the view stability improves, but the equipment is complex and occupies large operating room space
Solution Approach 1:
The complex external robotic systems (AESOP, AutoLap) are replaced by extracting the orientation function into a simple magnetic orientation mechanism integrated directly into the insertable device, eliminating the need for large external robotic equipment
Solution Approach 2:
Instead of using large external robotic systems to manipulate the endoscope from outside the patient's body, the invention inverts the approach by embedding the orientation capability directly within the insertable device itself through magnetic interaction
3Adaptability or versatility
If active or hyper endoscope systems with multi-link robotic arms are used, then additional freedom of motion is achieved, but a dedicated incision is required and high voltage is needed for actuators
Solution Approach 1:
Complex multi-link robotic arm mechanisms with high-voltage actuators are replaced with a simple magnetic orientation system that provides freedom of motion through magnetic interaction, eliminating the need for dedicated incisions and high-voltage power sources
Solution Approach 2:
The system changes from mechanical actuation requiring high voltage to magnetic field-based actuation operating at low voltage, while still achieving the desired freedom of motion through magnetic interaction with surgical instruments or body tissues
4Object-affected harmful factors
If multiple instruments are inserted through a single incision, then patient trauma is reduced, but the range of motion about the fulcrum at the abdominal wall is limited
Solution Approach 1:
The insertable device automatically orients itself toward the surgical site using magnetic interaction, compensating for the limited range of motion imposed by single-incision insertion and enabling versatile instrument orientation without requiring multiple incisions
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
Provides enhanced freedom of motion and orientation for surgical instruments, reducing surgical complexity and space requirements, while maintaining sterility and safety, and allowing for single-incision procedures.
Implementation Method 1
The insertable device includes a first magnet and a second magnet. The first magnet is configured to interact with a first magnet or a first ferromagnetic material. The second magnet is configured to interact with a second magnet or a second ferromagnetic material.
Data Source
AI summary
An insertion tool for inserting devices during a laparoscopic procedure includes a first housing comprising a joystick module and a circuit board, a second housing comprising a first pulley and a second pulley, an insertable device, a first jacket coupled to the first housing and the second housing, a second jacket coupled to the second housing and an articulating portion. The articulating portion comprises articulating segments. Each of the articulating segments includes a plurality of apertures through which a plurality of lines passes therethrough from the first and second pulleys to sockets located in the insertable device. Movements of the joystick module send signals through the circuit board to motors which displace the first and second pulleys. The displacement of the first and second pulleys ultimately displaces the insertable device via the plurality of lines. Movement of the lines moves the articulating segments in controlled, precise movements during laparoscopic procedures.