Cooperative Surgical Instrument Control for Multi-Cavity Access
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Solution Overview
Problem
Surgical procedures often require multiple instruments operating on different anatomical spaces, which can be challenging due to anatomical limitations, and existing imaging systems struggle to provide complete visualization and coordination of instruments with variable access trajectories, leading to difficulties in achieving successful surgical outcomes.
Innovation Solution
A system comprising a first surgical instrument for a body cavity outside a lumen structure and a second instrument within the lumen structure, each with a dedicated endoscope for image acquisition and a controller to determine their locations and coordinate cooperative movement, enabling the delivery of adjuncts and fixating implants.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical instruments are used to operate on different anatomical spaces simultaneously, then surgical capability and versatility are improved, but coordination and control difficulty increases
Solution Approach 1:
The patent combines multiple surgical instruments into a single integrated robotic system with a common control platform. The system merges instruments operating in different anatomical spaces (e.g., inside and outside a lumen structure) under unified coordination, allowing simultaneous operation while maintaining ease of control through centralized management of all instrument trajectories and actions.
Solution Approach 2:
The robotic system is designed with universal control capabilities that can manage multiple types of surgical instruments with different functions. The control system provides multi-functional coordination, adapting to various instrument configurations and surgical requirements while maintaining consistent ease of operation across different surgical scenarios.
2Measurement precision
If dedicated endoscopes are assigned to each surgical instrument for image acquisition, then visualization quality and measurement precision are improved, but system complexity increases
Solution Approach 1:
The patent merges multiple dedicated endoscopes into a unified imaging system that serves all surgical instruments. Instead of treating each endoscope as a separate complex component, the system integrates their image acquisition functions under a common processing platform, reducing overall system complexity while maintaining high location determination accuracy for all instruments.
Solution Approach 2:
The control system acts as an intermediary that coordinates between multiple dedicated endoscopes and the surgical instruments. It processes image data from all endoscopes and provides unified location information, simplifying the interaction between the complex imaging components and the surgical operations.
3Measurement precision
If imaging systems are positioned to view specific surgical instruments, then image quality for that instrument is improved, but ability to visualize multiple instruments simultaneously deteriorates
Solution Approach 1:
The imaging system is designed with universal visualization capability that can simultaneously capture and process images of multiple surgical instruments operating in different anatomical spaces. Each endoscope is configured to view its specific instrument with high quality, while the integrated system provides overall visualization coverage of all instruments through coordinated image acquisition and processing.
Data Source
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AI summary
Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.