Magnetic Anchored Robotic Module for NOTES Dexterity
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Solution Overview
Problem
Current Natural Orifice Transluminal Endoscopic Surgery (NOTES) technologies face challenges in accessing the peritoneal cavity, secure internal wound closure, infection prevention, dexterity in tissue manipulation, and instrument triangulation, with existing navigation platforms being bulky and lacking in clinical applicability.
Innovation Solution
A miniature in-vivo robotic module with seven cylindrical links and six controllable rotational degrees of freedom, utilizing magnetic anchoring and guidance, wireless teleoperation, and a remote cable-drive transmission system, integrated with common commercial-off-the-shelf components, to enable dexterous manipulations within the abdominal cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If endoscope-based platforms with long and flexible instrumentation are used, then access to the peritoneal cavity is improved, but the ability to achieve desired forces and triangulation is insufficient
Solution Approach 1:
The robotic system is divided into two distinct components: a flexible endoscope-based navigation platform for accessing the peritoneal cavity, and a rigid robotic manipulator for providing dexterous manipulation forces and triangulation. This segmentation allows each component to excel at its specific function without compromise.
Solution Approach 2:
The patent introduces a rigid robotic manipulator as an intermediary device that works in conjunction with the flexible endoscope. The robotic manipulator provides the necessary forces and triangulation capability that the flexible endoscope alone cannot achieve, while the endoscope provides navigation and access capabilities.
2Adaptability or versatility
If micro-robots with small diameters are used, then flexibility for navigation is improved, but the outer diameter remains prohibitively large for widespread clinical use
Solution Approach 1:
The system separates the navigation function (performed by the flexible endoscope with small diameter) from the manipulation function (performed by the robotic manipulator). This allows the navigation component to have minimal diameter for clinical acceptance while the robotic component can be larger but remains outside the patient's body.
Solution Approach 2:
The patent moves the robotic manipulator from inside the patient's body to outside the patient's body, changing the spatial dimension of the manipulation device. This external positioning allows for larger robotic components without increasing the diameter of instruments that must pass through natural orifices.
3Ease of operation
If existing robotic-based platforms are used, then manipulation capability is improved, but the device complexity and size limit clinical potential
Solution Approach 1:
The robotic manipulator is designed as a universal platform that can perform multiple surgical tasks including dissection, suturing, and tissue manipulation. The system integrates navigation, positioning, and manipulation functions into a single coordinated platform, reducing the need for multiple separate devices.
Solution Approach 2:
The patent replaces complex internal robotic mechanisms with a simpler external robotic manipulator system. Instead of embedding complex robotic mechanisms within the endoscope, the system uses an external robotic arm that interfaces with the endoscope, thereby reducing overall device complexity while maintaining manipulation capability.
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 robotic module achieves precise positioning and orientation of laparoscopic instruments within the abdominal cavity, providing sufficient force and dexterity while minimizing size and weight, thus overcoming the limitations of existing NOTES technologies.
Implementation Method 1
This module may be anchored and guided to a designated location along the inner abdominal cavity wall via magnetic coupling forces imposed by magnets that are fixed to a different rigid and precise robotic manipulator located external to the patient.
Data Source
AI summary
A miniature in-vivo robotic module to be used for conducting dexterous manipulations on organs and other target entities in a patient's abdominal or peritoneal cavity as part of Natural Orifice Transluminal Endoscopic Surgery (NOTES) is disclosed in this invention. The robotic module is a serial manipulator consisting of seven cylindrical links and six actively controllable rotational degrees of freedom, thereby enabling an end effector equipped with a laparoscopic type instrument to assume a commanded position and orientation within the robot's workspace. After overtube navigation starting from a natural orifice or preexisting wound, the module must be anchored and guided to a designated location along the inner abdominal cavity wall. This is accomplished via magnetic coupling forces between internal embedded magnets and magnets fixed to the end of a different robotic manipulator located external to the patient.