Co-Manipulation Robot Arm for Laparoscopic Force Compensation

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Solution Overview

Problem

Current laparoscopic surgical procedures face challenges in managing vision and access due to the need for multiple assistants to hold and position various surgical instruments, leading to inefficient workflow and the requirement for expensive, complex robot-assisted systems that restrict the use of standard instruments.

Innovation Solution

A co-manipulation surgical system with a robot arm that automatically switches between passive, co-manipulation, and haptic modes based on user input, allowing seamless positioning and manipulation of surgical instruments, and includes an optical scanner for depth data and impedance control to assist in laparoscopic surgeries without the need for extensive manual interaction or unique system-specific instruments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If multiple assistants are used to hold and position surgical instruments, then vision and access during laparoscopic procedures can be maintained, but workflow efficiency deteriorates and operational complexity increases

Engineering Contradiction:

Improvevision and access managementVSAvoidworkflow efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The robot arm system provides self-service by automatically positioning and holding surgical instruments based on surgeon input, eliminating the need for assistants to manually manage instrument positioning. The system monitors surgical progress and autonomously adjusts instrument locations to maintain optimal vision and access.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the mechanical system of human assistants manually positioning instruments with an automated robotic system. The robot arm uses motors, sensors, and control algorithms to substitute for the manual mechanical actions previously performed by surgical assistants.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Manufacturing precision

If complex robot-assisted systems are used to enhance laparoscopic procedures, then surgical precision can be improved, but system cost and device complexity increase significantly

Engineering Contradiction:

Improvesurgical precisionVSAvoidsystem complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The robot arm system is designed with multi-functionality to perform various surgical tasks including holding retractors, positioning laparoscopes, and manipulating surgical instruments. This universal design allows a single system to replace multiple specialized devices, reducing overall system complexity and cost.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system employs adjustable impedance control parameters that allow the robot arm to transition between different operational modes (passive, co-manipulation, haptic). This parameter-based control approach simplifies the system architecture by using a single robot arm for multiple functions rather than requiring multiple fixed-function devices.

Inventive Principle:

Principle #35Parameter changes

3Extent of automation

If robot-assisted systems are implemented, then surgical instrument positioning can be automated, but the use of standard off-the-shelf instruments is restricted

Engineering Contradiction:

Improveinstrument positioning automationVSAvoidinstrument compatibility

Core Design Contradiction:

Extent of automationVSAdaptability or versatility

Solution Approach 1:

The robot arm system is designed with universal compatibility to work with standard off-the-shelf surgical instruments. The end effector and coupling mechanisms are configured to accommodate common instrument types including retractors, laparoscopes, and surgical tools, allowing automated positioning without restricting instrument choice.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 system enhances surgical precision and efficiency by allowing surgeons to freely maneuver instruments while maintaining control and stability, reducing the need for multiple assistants and accommodating standard instruments, thus improving workflow and reducing operational complexity.

Implementation Method 1

an impedance controller programmed to apply controlled impedance to movements of the robot arm in response to forces applied to the robot arm

Methodology Applied

Scientific EffectImpedance control:

Implementation Method 2

an optical scanner configured to collect depth data

Methodology Applied

Scientific EffectOptical scanning:

Data Source

PatentUS11622826B2Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while compensating for external forces

Publication Date: 2023.04.11 MOON SURGICAL SAS

AI summary

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.