Optical-Scanner Co-Manipulation Arm for Laparoscopic Instrument Holding
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Solution Overview
Problem
Existing laparoscopic surgical systems face challenges in seamlessly positioning and manipulating surgical instruments due to the limitations of human and mechanical solutions, including the need for extensive manual interaction and the use of complex, expensive robot-assisted systems that require unique instruments and a large operating room footprint.
Innovation Solution
A co-manipulation surgical system with a robot arm and controller that automatically switches between passive, co-manipulation, and haptic modes based on instrument movement and force, using optical scanners for depth data and impedance control to manage surgical instrument positioning and movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex robot-assisted systems such as Da Vinci Surgical System are used to enhance laparoscopic surgical procedures, then the surgeon's ability to perform procedures is enhanced, but the system becomes very expensive and occupies a large footprint in the operating room
Solution Approach 1:
The patent extracts the essential function of robot-assisted surgery by implementing a simplified robotic arm that performs only the critical function of holding and positioning surgical instruments, eliminating the complex teleoperating console and advanced motion control systems of traditional robot-assisted systems like Da Vinci
Solution Approach 2:
The patent employs a simple, inexpensive robotic arm design that can be easily replaced or discarded after use, contrasting with the expensive, complex, and reusable robot-assisted systems. The robotic arm is designed to be a basic mechanical structure without sophisticated control systems, reducing both cost and complexity
2Manufacturing precision
If complex robot-assisted systems are used to enhance laparoscopic surgical procedures, then surgical precision is improved, but the operating room space required increases significantly
Solution Approach 1:
The patent removes the bulky teleoperating console and complex motion control mechanisms from the surgical setup, retaining only the essential robotic arm function. This extraction of non-essential components dramatically reduces the space required in the operating room while maintaining surgical precision through the arm's controlled positioning capability
3Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then instrument stability is improved, but extensive manual interaction is required to unlock, reposition, and lock the tools
Solution Approach 1:
The robotic arm system provides self-service by automatically holding and positioning surgical instruments without requiring manual locking or securing operations. The system autonomously maintains instrument stability through its controlled positioning mechanism, eliminating the need for extensive manual interaction with locking mechanisms while maintaining stability
4Ease of operation
If assistant paradigm is used in laparoscopic procedures, then workflow simplicity is maintained, but the assistant must anticipate and see with the surgeon's eyes from a different position
Solution Approach 1:
The robotic arm serves as an intermediary between the surgeon and the surgical field, physically positioning instruments at the precise locations needed. This eliminates the need for assistants to manually position instruments while maintaining visual alignment with the surgeon's perspective, as the robotic system can be precisely positioned and controlled to match the surgeon's spatial requirements
Data Source
Figure 1A~1B
Figure 2
Figure 3A
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.