Modular Robotic Surgical Arms for Minimally Invasive Precision
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Solution Overview
Problem
Existing minimally invasive surgical technologies, such as laparoscopy and robotic systems like the da Vinci Surgical System, face limitations in mobility, visual feedback, and accessibility due to rigid tools and large, expensive equipment.
Innovation Solution
The development of a robotic surgical device with modular, minimally invasive components that provide five degrees of freedom, allowing for precise movement and visualization within a body cavity, while being compact and easily insertable through small incisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If rigid tools are used in laparoscopy, then structural stability is maintained, but mobility is restricted
Solution Approach 1:
The robotic surgical system is divided into multiple independent robotic arms that can move and position separately. Each arm is independently controllable, allowing different segments of the surgical system to perform different functions with optimal mobility while maintaining overall structural stability through coordinated control.
Solution Approach 2:
The system transitions from static rigid tools to dynamic robotic arms with multiple degrees of freedom. The robotic arms can adapt their configuration and movement in real-time, providing both stability when needed and mobility when required, resolving the contradiction between rigid structure and flexible operation.
2Adaptability or versatility
If large robotic systems like da Vinci are deployed, then surgical capability is enhanced, but device size and cost increase
Solution Approach 1:
The surgical system is segmented into multiple independent robotic arms that can be positioned and controlled separately. This allows the system to provide comprehensive surgical capability through coordination of multiple smaller units rather than requiring one large monolithic system, reducing overall device footprint and cost.
Solution Approach 2:
Each robotic arm is designed with universal capabilities to perform multiple surgical functions. The arms can be equipped with different end effectors and can adapt to various surgical tasks, providing enhanced surgical capability without requiring separate specialized equipment for each function, thereby reducing overall system size and cost.
3Object-affected harmful factors
If access ports are used for tool insertion, then minimally invasive approach is achieved, but mobility and visual feedback are limited
Solution Approach 1:
The system uses multiple separate access ports, each receiving an independent robotic arm. This segmentation allows each port to be optimally positioned for both minimal invasiveness and maximal mobility. The independent arms can move freely within their respective ports while maintaining the minimally invasive benefit of small incisions.
Solution Approach 2:
The robotic system incorporates advanced sensing and feedback mechanisms that provide enhanced visual and tactile feedback to the surgeon. This feedback capability overcomes the limitations of traditional laparoscopy through access ports, allowing real-time adjustment of arm positions and movements while maintaining minimal invasiveness.
4Manufacturing precision
If five degrees of freedom are implemented, then precision and complexity of surgery are improved, but device complexity increases
Solution Approach 1:
The five degrees of freedom are distributed across multiple independent robotic arms rather than concentrated in a single complex mechanism. Each arm has its own set of joints and actuators, allowing the complexity to be divided and managed separately while achieving the desired surgical precision through coordinated movement of all arms.
Data Source
AI summary
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.