Nested Control Links for Robotic Surgery Tool Positioning
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Solution Overview
Problem
Existing articulated tool positioning systems for robotic surgery suffer from issues such as large size, poor resolution of curvature, and lack of reliability.
Innovation Solution
The insertion device includes multiple guides and control links that can be actuated to define a substantially continuous curve, allowing for precise positioning and orientation of surgical tools within a body cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional articulated tool positioning systems are used, then the system can perform surgical procedures, but the system size becomes large and reliability decreases
Solution Approach 1:
The patent implements nesting by placing control links inside guides, with multiple control links (first, second, and third pluralities) sequentially nested within each other. The first control links are received by first guides, second control links are received by second guides that extend through the first guides, and third control links are received by third guides that extend through the second guides. This nested configuration reduces overall system size while maintaining full articulation capability, directly resolving the contradiction between compactness and functionality.
Solution Approach 2:
The patent divides the articulated system into multiple independent guides (first guide, second guide, third guide), each containing its own set of control links. Each guide-control link pair functions as an independent module that can be controlled separately. This segmentation allows the system to achieve complex articulation through coordinated action of simpler modular components, improving reliability through redundancy and fault isolation while managing system complexity.
2Measurement precision
If traditional articulated tool positioning systems are used, then the system can position tools, but the resolution of curvature is poor
Solution Approach 1:
The patent implements dynamics by making the guides flexible rather than rigid. The first guide is flexible and can be bent by the first control links, the second guide is flexible and can be bent by the second control links, and the third guide is flexible and can be bent by the third control links. This flexibility allows each guide to dynamically adjust its curvature in response to control link actuation, enabling high-resolution curvature control. The dynamic nature of the flexible guides, combined with their nested arrangement, achieves superior curvature resolution without requiring an overly complex rigid structure.
Data Source
AI summary
In some embodiments, an insertion device for a robotic surgery apparatus can include one or more guides configured to receive and/or engage a plurality of control links. The one or more guides can each include a plurality of channels. The insertion device can include a tool interface configured to engage one or more surgical tools for performing a surgical procedure. At least one control link of the first, second, or third pluralities of control links can be overlapping, coaxially aligned, or otherwise placed in a nested configuration with respect to another control link of the first, second, or third pluralities of control links. One or more of the plurality of first, second, or third control links can be configured to be actuated to adjust spatial position of the tool interface to facilitate repositioning of the surgical tool.