Micro-Robot Dexterity in Ocular Microsurgery via Segmentation

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Solution Overview

Problem

Current robotic-assisted eye micro-surgery is limited by lack of dexterity, accuracy, and force feedback, particularly due to the small size of blood vessels and the need for precise operations within a fixed fulcrum point, which restricts the ability to perform complex procedures like retinal peeling and drug delivery.

Innovation Solution

A robotic system with a delivery channel and micro-robot that can be extended and remotely operated within the eye, providing macro-micro distal dexterity through a remote center of motion mechanism, allowing for four-degree-of-freedom motion and true distal dexterity, with a distal portion diameter of 18 gauge or smaller, enabling precise manipulation and bending within the eye.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of stationary object

If a fixed fulcrum point is used for minimally invasive surgery, then the insertion point size is reduced, but distal dexterity and operational versatility are limited

Engineering Contradiction:

Improveinsertion point sizeVSAvoiddistal dexterity

Core Design Contradiction:

Area of stationary objectVSAdaptability or versatility

Solution Approach 1:

The system divides the surgical tool into multiple segments: a fixed fulcrum point at the insertion site and a distal operative portion that can move independently. This segmentation allows the distal portion to achieve dexterity through multi-axis actuation while the proximal fulcrum remains fixed, resolving the contradiction between small insertion size and distal versatility.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The invention adds rotational degrees of freedom at the distal end of the tool, transforming a simple linear insertion into a multi-dimensional operative system. The distal portion can rotate and orient itself in multiple directions while maintaining the fixed fulcrum point, enabling complex maneuvers through dimensional expansion without increasing insertion complexity.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Ease of manufacture

If straight rigid needles are used, then the structure is simple and easy to manufacture, but dexterity at the tip is completely absent

Engineering Contradiction:

Improvetool structure simplicityVSAvoidtip dexterity

Core Design Contradiction:

Ease of manufactureVSEase of operation

Solution Approach 1:

The system transitions from a static rigid needle to a dynamic tool with active control capabilities. The distal portion incorporates actuators that enable real-time adjustment of orientation and position, transforming the tool from a passive rigid structure to an actively controllable system with adaptive dexterity while maintaining manufacturing feasibility through modular design.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The invention introduces an intermediary mechanism between the simple rigid needle structure and the required complex tip movements. This intermediary consists of the actuated distal portion that mediates between the simple proximal insertion and the complex distal operations, enabling dexterity without requiring the entire tool to be complex.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Device complexity

If manual operation is used, then the system is simple, but tremor reduction and accuracy are severely limited

Engineering Contradiction:

Improvesystem complexityVSAvoidoperational accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The system replaces manual mechanical control with robotic actuation and computer control. The robotic system eliminates human tremor through precise motor control and can maintain sub-millimeter accuracy consistently. The control system substitutes human motor skills with automated positioning algorithms, achieving superior precision while accepting increased system complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Area of moving object

If the distal portion diameter is reduced to access small blood vessels, then access to micro structures is improved, but structural strength and stability are reduced

Engineering Contradiction:

Improvedistal portion diameterVSAvoidstructural strength

Core Design Contradiction:

Area of moving objectVSStrength

Solution Approach 1:

The tool exhibits local quality variations along its length: the proximal portion has larger diameter for strength and actuator housing, while the distal portion tapers to small diameter for accessing micro-structures. Each section is optimized for its specific function, with the distal tip being thin for vessel access while the proximal section provides structural support and houses the actuation mechanisms.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS10406026B2System and method for macro-micro distal dexterity enhancement in micro-surgery of the eye

Publication Date: 2019.09.10 JOHNS HOPKINS UNIVERSITY

AI summary

A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.