Medical Intervention Device Motion Control
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Solution Overview
Problem
Current medical intervention devices for endoscopic and laparoscopic procedures face challenges in providing precise control and motion due to the separation of the tool portion from the handle, leading to reduced control, smaller ranges of motion, and fewer degrees of freedom, which affects hand-eye coordination and requires sophisticated computing and motors for compensating motion.
Innovation Solution
A handheld medical intervention device with a distal portion that provides motion about multiple intersecting axes, allowing independent and constant velocity motion, ratioed motion for precision, and tremor reduction, using a mechanical operating relationship that mimics hand motion without the need for computer-controlled compensating systems, featuring a handle, central, and distal portions with a manipulation interface that enables yaw, pitch, and roll motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the tool portion is separated from the handle to enable minimally invasive procedures, then the ability to perform procedures through small incisions is improved, but control precision and range of motion are reduced
Solution Approach 1:
The device is divided into distinct segments (handle, extension, tool portion) that can move independently relative to each other, with each segment contributing specific degrees of freedom. The handle provides initial motion, the extension transmits and transforms this motion, and the tool portion adds final positioning capability, together achieving precise control despite physical separation.
Solution Approach 2:
The device incorporates multiple degrees of freedom including rotational movements about multiple axes (pitch, yaw, roll) to add dimensional complexity to the motion transmission. This multi-axis capability allows the tool to achieve precise positioning in three-dimensional space despite the linear separation from the handle.
2Length of moving object
If the tool portion is separated from the handle, then minimally invasive access is enabled, but the number of degrees of freedom is reduced
Solution Approach 1:
The device is divided into distinct segments (handle, extension, tool portion) that can move independently relative to each other, with each segment contributing specific degrees of freedom. The handle provides initial motion, the extension transmits and transforms this motion, and the tool portion adds final positioning capability, together achieving precise control despite physical separation.
Solution Approach 2:
The device incorporates multiple degrees of freedom including rotational movements about multiple axes (pitch, yaw, roll) to add dimensional complexity to the motion transmission. This multi-axis capability allows the tool to achieve precise positioning in three-dimensional space despite the linear separation from the handle.
3Device complexity
If conventional mechanical separation is used, then device simplicity is maintained, but sophisticated computing and motors are required for motion compensation
Solution Approach 1:
The device uses passive mechanical elements (springs, flex cables, universal joints) that automatically compensate for motion discrepancies without requiring active sensing or computer control. The flexible cable system naturally accommodates relative movements between handle and tool portions through elastic deformation and geometric adaptation.
Solution Approach 2:
The device allows dynamic changes in geometric parameters (cable lengths, joint angles, component positions) that automatically adapt to different operational configurations. These parameter variations enable the system to maintain proper motion transmission across different ranges of motion without requiring active control systems.
Data Source
AI summary
A medical intervention device may include a handheld device adapted for minimally invasive procedures. The device may include a handle that remains outside of the patient and an extension that extends from the handle into the patient and includes an end effector such as a forceps at a distal end. The mechanical operating relationship between the extension and the end effector may provide for motion about multiple intersecting axes thereby avoiding a need for compensating motion. In particular, yaw and pitch motion may be imparted independent of one another and avoiding a need for compensating motion of one axis for another. Moreover, the mechanical operating relationships of the device be configured for precisely mimicking the hand motion of the surgeon or other user and may include ratioed motion that provides for more precise motion at the end effector than at the handle and/or tremor control.