Magnetic Anchoring And Actuation for Extended MIS Working Range
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Solution Overview
Problem
Existing magnetic anchored and actuated systems for minimally invasive surgery (MIS) face limitations in anchoring and actuation distance, which cannot cover the full thickness of body cavities, leading to bulky designs that cannot be inserted through standard incisions or require larger incisions, complicating surgical procedures.
Innovation Solution
A magnet configuration with specific magnetic coupling between internal and external units, utilizing radially and axially magnetized components to enhance anchoring and actuation distance while maintaining a compact system design, allowing for larger working ranges and improved surgical instrument operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If larger magnets are used to increase anchoring and actuation distance, then anchoring distance is improved, but device size becomes bulky and cannot be inserted through standard incisions
Solution Approach 1:
The magnetic system is divided into multiple magnet arrays arranged in series along the longitudinal axis. Each magnet array contains multiple magnets that work together to provide anchoring force. This segmentation allows the system to achieve extended anchoring distance (covering up to 80mm or more of chest wall thickness) while keeping individual magnet arrays compact enough for minimally invasive insertion through intercostal spaces.
Solution Approach 2:
The patent extends the magnetic system from a single-plane configuration to a three-dimensional arrangement with magnet arrays distributed along the longitudinal axis. This dimensional extension allows the magnetic field to penetrate through the full thickness of the chest wall while maintaining a compact transverse profile that fits through standard surgical incisions.
2Length of stationary object
If larger magnets are used to increase anchoring distance, then anchoring distance is improved, but system complexity increases
Solution Approach 1:
The control system is segmented into multiple independent control modules, each corresponding to a magnet array. This allows independent control of each magnet array's position and orientation, enabling complex actuation patterns while maintaining manageable system complexity through modular architecture. The segmentation facilitates distributed control that can be implemented with standard robotic control systems.
Solution Approach 2:
The magnetic rotators are designed to be dynamically controllable, allowing real-time adjustment of magnet orientation and position. This dynamic capability enables the system to adapt to varying anatomical conditions and surgical requirements without requiring a fixed, overly complex mechanical structure. The dynamic magnetic actuation simplifies the overall system compared to traditional mechanical actuators.
3Adaptability or versatility
If multiple instruments are used in MIS, then surgical functionality is improved, but port crowding and instrument interference occur
Solution Approach 1:
The magnetic anchoring system serves multiple functions: it anchors the endoscope to the chest wall, provides stable positioning for imaging, and enables actuation of surgical instruments. This multi-functionality reduces the need for separate anchoring devices and instrument holders, thereby reducing port crowding while maintaining comprehensive surgical capability including imaging, retraction, and instrument manipulation.
Solution Approach 2:
The magnetic field acts as an intermediary that transmits actuation forces from external magnets to internal instruments without physical contact. This allows multiple instruments to be actuated through a single magnetic anchoring point, eliminating the need for multiple separate actuation mechanisms and reducing instrument interference in the limited surgical port space.
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 proposed magnet configuration significantly increases anchoring distance and working range, enabling efficient operation within body cavities, reducing port crowding and instrument interference, and facilitating surgeries like uniport VATS with improved convenience and reliability.
Implementation Method 1
said left external magnetic component and said left internal magnetic component are radially magnetized with magnetization direction of said left external magnetic component being same as said left internal magnetic component
Implementation Method 2
each of said left internal magnetic component, middle internal magnetic component and right internal magnetic component is magnetically coupled to each of said left external magnetic component, middle external magnetic component, and right external magnetic component respectively
Implementation Method 3
said right external magnetic component and said right internal magnetic component are radially magnetized with magnetization direction of said right external magnetic component being same as said right internal magnetic component; each of said left external magnetic component and said left internal magnetic component has a magnetization direction opposite to each of said right external magnetic component and right internal magnetic component
Data Source
AI summary
This invention provides a magnetic anchored and actuated system and manufacturing method thereof. In one embodiment, said system comprises: (a) an internal unit for insertion into a patient's body, comprising an internal frame, an internal magnetic rotator, and a function module; and (b) an external unit for anchoring and controlling locomotion of said internal unit, comprising an external frame, an external magnetic rotator, and an actuation module.