Compact Laser-Steering End Effector for Minimally Invasive Surgery
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Solution Overview
Problem
Current minimally invasive surgical techniques, such as transoral laser microsurgery (TLM) and transoral robotic surgery (TORS), face limitations in visualization, tissue manipulation, and incision quality due to line-of-sight constraints and the use of electrocautery, which results in increased post-operative pain and longer recovery times.
Innovation Solution
A compact laser-steering end effector is developed, incorporating a frame with active mirrors and actuators, allowing for precise control of a laser beam across a target area with high speed and accuracy, thereby combining the benefits of TLM and TORS.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If transoral laser microsurgery (TLM) is used, then incision quality is improved, but visualization and tissue manipulation are limited due to line-of-sight constraints
Solution Approach 1:
The patent combines robotic manipulators with laser delivery capabilities to merge the precision cutting of TLM with the superior visualization and manipulation of TORS. The robotic end effector integrates a laser fiber optic bundle with robotic control, allowing precise laser delivery while maintaining the ability to manipulate tissue and visualize the surgical site through robotic instruments and endoscopic vision systems.
Solution Approach 2:
The robotic end effector is designed to perform multiple functions: it can deliver laser energy for cutting and ablation, manipulate tissue using robotic instruments, and integrate with endoscopic vision systems for visualization. This multi-functional design eliminates the need to choose between TLM's precision cutting or TORS's versatility, as both capabilities are combined in a single device.
2Ease of operation
If TORS with electrocautery is used, then tissue manipulation is improved, but post-operative pain and recovery time increase
Solution Approach 1:
The patent replaces electrocautery with laser-based energy delivery in the robotic end effector. The laser fiber optic bundle delivers focused laser energy for tissue ablation and cutting, substituting the thermal effects of electrocautery with precise photothermal effects. This substitution maintains the ability to manipulate tissue while reducing post-operative pain and recovery time associated with electrocautery.
3Adaptability or versatility
If robotic tools are used for laser delivery, then access is improved, but spatial repeatability and precision are reduced
Solution Approach 1:
The system incorporates feedback mechanisms to maintain precision in robotic laser delivery. The endoscopic vision systems provide real-time visual feedback on the surgical site, and the robotic control system uses this feedback to adjust and refine laser delivery positioning. This feedback loop compensates for the reduced spatial repeatability inherent in robotic tools, ensuring precise laser application while maintaining the improved access capabilities of robotic instruments.
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 solution enables more precise incisions with less tissue damage, improved access and exposure, and faster recovery times, addressing the limitations of existing techniques and enhancing surgical outcomes for patients with pharyngeal and laryngeal cancers.
Implementation Method 1
The mirrors are positioned and configurable via the actuators to reflect the laser beam off of each mirror en route to an external target
Implementation Method 2
A compact laser-steering end effector is developed, incorporating a frame with active mirrors and actuators, allowing for precise control of a laser beam across a target area
Data Source
AI summary
A compact laser-steering end effector includes a frame, at least two active mirrors, and a pair of actuators. The frame has a greatest dimension in a plane orthogonal to a longitudinal axis of no more than 13 mm, and the mirrors are mounted proximate to the distal end of the frame. The actuators are mounted to the frame and configured to respectively change the tilt of the active mirrors relative to the frame. A pathway is provided through the frame to deliver a laser beam to the mirrors, and wherein the mirrors are positioned and configurable via the actuators to reflect the laser beam off of each mirror en route to an external target.