Microsurgical Tool Adapters for Retinal Surgery
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Solution Overview
Problem
Current robotic systems for retinal surgery are large, stiff, and lack the ability to compensate for sudden patient movements, posing risks during delicate procedures like membrane peeling and vein cannulation, where human tremor and instrument length variations complicate precision and efficiency.
Innovation Solution
A modular adapter system with piezoelectric stick-slip actuators and a 6-DOF telerobotic manipulator that allows quick exchange of microsurgical tools, maintaining a consistent tool tip distance and compensating for head movements, enabling precise control and reduced tremor impact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If robotic systems are made large and stiff for stability, then structural stability is improved, but adaptability to patient movements deteriorates
Solution Approach 1:
The robotic system is divided into multiple segments: a stable base platform and a flexible articulated arm with multiple joints. This segmentation allows the base to provide structural stability while the articulated segments enable adaptability to patient movements through controlled articulation.
Solution Approach 2:
The robotic system transitions from a completely rigid structure to a dynamic system with controlled flexibility. The articulated joints and compliance mechanisms allow the system to adapt its stiffness and movement characteristics in real-time, enabling both stability during operation and adaptability to unexpected patient movements.
2Adaptability or versatility
If multiple surgical tools are used with different lengths, then surgical versatility is improved, but positioning precision deteriorates
Solution Approach 1:
An adapter mechanism serves as an intermediary between the robotic end effector and various surgical tools. This adapter includes a setback feature that standardizes the position of tool tips relative to the end effector, ensuring consistent positioning precision regardless of the specific tool being used.
Solution Approach 2:
The robotic system employs a universal adapter interface that can accommodate multiple surgical tools with different lengths and configurations. This universal interface maintains a common tip distance for all tools, enabling the system to perform various surgical functions while preserving positioning accuracy.
3Adaptability or versatility
If tool exchange is performed during surgery, then surgical adaptability is improved, but surgical time deteriorates
Solution Approach 1:
Multiple surgical tools are pre-loaded into the robotic system before the procedure begins. The adapter mechanism is designed to allow quick exchange of these pre-loaded tools without requiring complex reconfiguration or prolonged interruption of the surgical procedure.
Solution Approach 2:
The tool exchange mechanism is designed for dynamic, rapid replacement of surgical tools during the procedure. The adapter interface allows for quick detachment and attachment of different tools, minimizing the time lost during tool exchanges while maintaining surgical adaptability.
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
Enhances surgical precision and efficiency by allowing quick tool changes and compensating for head movements, reducing the risk of complications and improving patient outcomes in retinal surgery.
Implementation Method 1
A modular adapter system with piezoelectric stick-slip actuators
Data Source
AI summary
An adapter system can include a set of adapters operably adapted to a set of microsurgical tools. Each adapter in the set of adapters can be formed for a complimentary surgical tool in the set of surgical tools. Each adapter can have a setback feature designed to orient a corresponding tool tip at a common tip distance. An adapter receptacle can include a joint or joints having a rotary motion and/or translation mechanism and a setback stop feature.