Motion Compensation Device for Robotic Surgery
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Solution Overview
Problem
In robotic surgery, especially with flexible endoscopes, it is challenging to maintain a consistent distance between the surgical tool and the moving target object within a human body, due to factors like respiration and heartbeat.
Innovation Solution
A motion compensation device that includes an overtube inserted into the human body and a compensation computation part to calculate motion compensation based on the target object's motion, ensuring the surgical tool maintains a predetermined distance from the target object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the surgical tool is inserted into the human body to reach the target object, then the surgical treatment can be performed, but the target object moves due to respiration and heartbeat causing the distance between the surgical tool and target object to change
Solution Approach 1:
The patent employs a feedback mechanism where image data from the photographing part is continuously analyzed to detect target object motion, and this motion information is fed back to the compensation computation part which calculates and applies real-time position adjustments to the surgical tool, ensuring the distance is maintained despite physiological movements
Solution Approach 2:
The patent replaces manual mechanical adjustment by the surgeon with an automated computational system that uses image processing and motion estimation algorithms to detect target motion and automatically compute compensation positions, substituting human reaction with automated real-time computation
2Stability of the object's composition
If the doctor manually adjusts the surgical tool position to maintain distance, then the distance can be maintained, but the surgery time increases and the doctor's burden increases
Solution Approach 1:
The system performs self-service by automatically detecting target motion through image analysis and autonomously computing the required compensation positions without requiring continuous manual intervention from the surgeon, making the system self-regulating
Solution Approach 2:
The patent implements continuous image data acquisition and real-time motion compensation computation throughout the surgery, ensuring uninterrupted distance maintenance without requiring periodic manual adjustments, thereby maintaining continuous useful action
3Stability of the object's composition
If the surgical tool follows the target object motion, then the distance can be maintained, but the device complexity increases due to motion detection and compensation computation
Solution Approach 1:
The patent introduces an intermediary photographing part (camera) that captures image data of the target object, serving as a mediator between the surgical tool and target object. This intermediary enables motion detection without requiring direct complex sensing between the tool and target
Solution Approach 2:
The system creates a visual copy of the target object through image data captured by the photographing part, and this copy is used for motion detection and analysis. By working with the image copy rather than directly sensing the physical target, the system reduces complexity
4Productivity
If the doctor performs surgery while the target object is moving, then the surgery can be performed, but the treatment efficiency decreases and the probability of successful treatment reduces
Solution Approach 1:
The system performs preliminary action by continuously detecting and tracking target motion before the surgical treatment is applied. The motion compensation is computed in advance based on detected motion patterns, allowing the surgical tool to be pre-positioned for optimal treatment delivery
Data Source
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AI summary
Proposed is a motion compensation device including an overtube configured to be inserted into a human body and reach a target object that is a surgical target, and a compensation computation part configured to compute motion compensation corresponding to motion of the target object in the human body, wherein the overtube includes a surgical tool part configured to provide treatment to the target object, and corresponding to motion of the target object, a space between the target object and the surgical tool part or a space between the target object and the overtube is maintained within a predetermined range.