Medical Robot System With Bendable Manipulators
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Solution Overview
Problem
Laparoscopic surgical operations face challenges in maintaining a wide operative field within the body cavity due to the presence of organs other than the affected region, which can obstruct the surgical area, limiting the freedom of movement for medical manipulators.
Innovation Solution
A medical robot system with multiple robot arms, including one serving as a retractor, equipped with rod-shaped members featuring intermediate joints that can bend to retract organs and maintain a wide operative field, allowing for greater flexibility and avoidance of physical interference within the body cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a retractor is used to retract organs out of the operative field, then the operative field is widened, but the retractor itself becomes an obstacle in the operative field
Solution Approach 1:
The rod-shaped member is divided into multiple segments by introducing intermediate joints, allowing each segment to move independently. This segmentation enables the retractor to bend and position itself without obstructing the operative field while still maintaining organ retraction.
Solution Approach 2:
The rod-shaped member transitions from a rigid structure to a dynamic, bendable structure through the addition of intermediate joints. This allows the retractor to adapt its shape and position dynamically, moving out of the way when necessary while maintaining its retraction function.
2Device complexity
If multiple manipulators are inserted through a common trocar supporting member, then the system complexity is reduced, but the manipulators interfere with each other's movement
Solution Approach 1:
The manipulators are segmented with intermediate joints that allow independent bending and positioning. This enables each manipulator to navigate and operate within the body cavity without interfering with others, even when inserted through a common trocar.
Solution Approach 2:
The intermediate joints add rotational degrees of freedom to the manipulators, allowing them to move in multiple dimensions. This dimensional enhancement enables manipulators to avoid each other and operate freely within the constrained space of a single trocar insertion point.
Data Source
AI summary
A medical robot system has a plurality of first robot arms supporting respective manipulators thereon; a second robot arm supporting an endoscope thereon; and a controller for controlling the first robot arms and the second robot arm. The manipulators and endoscope are inserted into a body cavity through a common trocar supporting member, wherein each of said manipulators includes a rod-shaped member for insertion through the trocar supporting member into the body cavity, a distal-end working unit mounted on a distal end of the rod-shaped member and having at least one joint, and at least one intermediate joint disposed in the rod-shaped member for bending said rod-shaped member.