Laparoscopic Robot Arm Coupling for Seamless Instrument Positioning
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access due to the limitations of human and mechanical assistance systems, which require extensive manual interaction and are often impractical, leading to inefficiencies and the need for expensive, complex robot-assisted systems that restrict the use of standard surgical 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 and force thresholds, allowing seamless positioning and manipulation of surgical instruments while accounting for the weight and impedance of the instruments and robot arm, and includes a controller that adjusts impedance to guide the instrument within predefined barriers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then instrument positioning is achieved, but extensive manual interaction is required to unlock, reposition, and lock the tools
Solution Approach 1:
The robot arm provides dynamic, motorized positioning of surgical instruments, replacing static rail-mounted retractors that require manual locking and unlocking. The system transitions between passive and active modes to enable seamless repositioning without manual intervention.
Solution Approach 2:
The robot arm autonomously positions and holds surgical instruments without requiring manual locking or unlocking operations. The system self-adjusts to maintain instrument positioning throughout the surgical procedure.
2Manufacturing precision
If complex robot-assisted systems like Da Vinci Surgical System are used, then surgical precision is enhanced, but the systems are very expensive and have a very large footprint
Solution Approach 1:
The patent extracts only the essential robot arm functionality needed for instrument positioning, separating it from the complex teleoperated console system. This creates a simplified, standalone robot arm that provides precision without the large footprint and high cost of full Da Vinci systems.
Solution Approach 2:
The system uses a simpler, more cost-effective robot arm design that can be disposed of or replaced more easily than expensive medical-grade robotic systems, reducing overall system cost while maintaining surgical precision.
3Manufacturing precision
If complex robot-assisted systems are used, then surgical procedures are enhanced, but unique system-specific surgical instruments are required that are not compatible with standard off-the-shelf instruments
Solution Approach 1:
The robot arm is designed with a universal coupling mechanism that can accommodate standard off-the-shelf surgical instruments through various adapters and interfaces. This eliminates the need for proprietary instruments while maintaining enhanced surgical capabilities.
4Ease of operation
If human assistants are used to hold retractor devices and laparoscope devices, then vision and access are managed, but assistants must hold tools in impractical positions from between the surgeon's arms
Solution Approach 1:
The robot arm acts as an intermediary between the surgeon and surgical instruments, holding and positioning tools in optimal locations that would be inaccessible to human assistants working between the surgeon's arms. This enables the surgeon to operate freely without compromising instrument positioning.
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 seamless instrument manipulation without the need for extensive manual interaction, enabling the use of standard instruments and reducing the complexity and cost associated with robot-assisted systems, while maintaining sterility and improving workflow.
Implementation Method 1
The controller may be programmed to apply a first impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Implementation Method 2
The controller may be programmed to apply a second impedance to the robot arm in the haptic mode greater than the first impedance, thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode than in the co-manipulation mode
Data Source
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.