Overtube Motion Compensation for Stable Surgical Tool Spacing
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Solution Overview
Problem
In robotic surgery, it is challenging to maintain a stable distance between a surgical tool and a moving target object in a human body due to factors like respiration and heartbeat, making it difficult to perform precise surgical operations.
Innovation Solution
A motion compensation device that includes an overtube and a compensation computation part to synchronize the surgical tool with the motion of the target object, maintaining a predetermined space between the target object and the surgical tool, and compensating for 3D degrees of freedom motions such as translational, bending, and rotational movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the surgical tool is kept fixed relative to the endoscope, then the device structure is simple, but the distance between the surgical tool and the moving target object cannot be maintained
Solution Approach 1:
The surgical tool is designed with dynamic adjustment capability, allowing it to move independently from the endoscope along the insertion direction. The tool can adjust its position dynamically to maintain a predetermined distance from the moving target object, transforming a static structure into a dynamic one that adapts to target motion caused by respiration and heartbeat.
Solution Approach 2:
The system separates the endoscope and surgical tool into independent components with different functions. The endoscope remains relatively fixed for observation, while the surgical tool can move independently to track the target object, dividing the motion compensation function from the observation function.
2Productivity
If the surgeon manually tracks the moving target, then no additional device is needed, but the surgery time increases and precision decreases
Solution Approach 1:
The surgical tool automatically tracks the target object by detecting its position and motion, eliminating the need for the surgeon to manually adjust the tool position. The system performs self-adjustment to maintain the predetermined distance, reducing surgical time and increasing efficiency.
Solution Approach 2:
The system continuously detects the position of the target object and uses this feedback information to automatically adjust the surgical tool's position, creating a closed-loop control system that maintains optimal distance without surgeon intervention.
3Manufacturing precision
If the surgical tool moves with the target object, then treatment precision is improved, but the risk of mucosal contact increases
Solution Approach 1:
The surgical tool performs partial motion compensation by maintaining a predetermined distance from the target object rather than directly contacting it. This partial tracking action provides sufficient treatment precision while avoiding excessive motion that would increase mucosal contact risk.
Data Source
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.