Magnetic-anchored Robotic System for Minimally Invasive Surgery
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Solution Overview
Problem
Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) face challenges with inadequate triangulation of surgical instruments, poor ergonomics, and difficulty in applying off-axis forces due to the lack of proper instrument positioning within the abdominal cavity.
Innovation Solution
A Magnetic-anchored Robotic System (MRS) that uses internal and external magnetic anchoring and positioning devices to allow for seven-degrees of freedom movement of miniature robotic instruments within the abdominal cavity, enabling secure positioning and control via a computer-assisted system, allowing for single-incision or natural orifice access with improved triangulation and ergonomics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple incisions are made for MIS to insert camera and instruments, then instrument access is improved, but access trauma and scarring increase
Solution Approach 1:
The patent combines multiple instruments and the camera into a single integrated robotic system that accesses the abdominal cavity through one incision. The robotic actuator with multiple instruments mounted on a common platform eliminates the need for separate incisions for each instrument, thereby reducing access trauma while maintaining surgical functionality.
Solution Approach 2:
The robotic actuator serves multiple functions simultaneously - it holds the camera, multiple surgical instruments, and provides positioning capabilities all through a single unit. This multi-functional design allows one incision to accommodate what traditionally required multiple separate access points.
2Object-affected harmful factors
If single-incision or NOTES approach is used to minimize trauma, then access trauma is reduced, but instrument triangulation and ergonomics deteriorate
Solution Approach 1:
The robotic actuator introduces a new dimension of movement by enabling instruments to move not only along the longitudinal axis through the incision but also in lateral directions and rotational movements. This multi-axis capability restores triangulation geometry despite the single-point access, allowing instruments to achieve proper angular relationships for surgical manipulation.
Solution Approach 2:
The system employs dynamic positioning where the robotic actuator can adjust the positions and orientations of instruments in real-time during surgery. This dynamic adaptability compensates for the fixed single incision location, maintaining optimal triangulation and ergonomics throughout the surgical procedure.
3Object-affected harmful factors
If traditional MIS instruments are used through single incision, then access trauma is minimized, but ability to apply off-axis forces is lost
Solution Approach 1:
The robotic actuator serves as an intermediary mechanism between the single incision access point and the surgical instruments. It provides the mechanical leverage and force transmission capability to apply off-axis forces to tissues and organs despite the linear access path, effectively decoupling the access trajectory from the force application direction.
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 MRS provides minimized access trauma, enhanced dexterity, and improved operative ergonomics by enabling precise control and movement of surgical instruments within the abdominal cavity, facilitating complex surgical procedures with reduced scarring and complications.
Implementation Method 1
The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body
Data Source
AI summary
A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end-effector having multiple degrees of movement via multiple axes, and a plurality of actuators that provide the multiple degrees of movement.