Proximal Motor Relocation for Single-Port Robotic Surgical Actuation
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Solution Overview
Problem
Current minimally invasive surgical technologies face limitations due to mobility restrictions and limited visual feedback from rigid tools and existing robotic systems, which are often large, expensive, and have limited sensory and mobility capabilities.
Innovation Solution
The development of medical device components such as biopsy mechanisms with sliding components, extendable rotational arms, and winch systems that utilize fluid actuation systems, drive train systems, and motorless actuation mechanisms to enhance mobility and precision within minimally invasive procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic systems are made larger and more capable, then sensory and mobility capabilities improve, but device complexity and cost increase significantly
Solution Approach 1:
The patent extracts the motor components from the distal end effector and relocates them to the proximal operator. This allows the distal portion to be simpler and more adaptable for various surgical tasks, while the proximal portion handles the complexity of motor control. The end effector becomes a passive tool that can be easily exchanged, improving versatility without increasing overall system complexity at the critical distal location.
Solution Approach 2:
The robotic system is divided into distinct segments: the operator (proximal), the drive train (transmission elements), and the end effector (distal). Each segment can be independently designed, manufactured, and sterilized. This segmentation allows the end effector to be optimized for specific surgical tasks while the operator handles complexity, resolving the contradiction between adaptability and device complexity.
2Adaptability or versatility
If multiple access ports are used for robotic arms, then mobility and visual feedback improve, but patient trauma and procedure complexity increase
Solution Approach 1:
The robotic system is designed to perform multiple surgical functions (biopsy, resection, stapling, clipping) through a single access port using a unified robotic platform. The single port robotic arm integrates visualization, manipulation, and surgical execution capabilities, eliminating the need for multiple separate access ports while maintaining full surgical functionality and visual feedback.
3Manufacturing precision
If onboard motors are included in the end effector, then actuation precision improves, but device cost and complexity increase
Solution Approach 1:
The patent introduces a flexible drive train as an intermediary mechanism between the proximal motor and the distal end effector. This flexible transmission system (using cables, belts, or shape memory alloys) delivers precise actuation forces from the operator to the end effector without requiring motors at the distal end. The intermediary mechanism maintains actuation precision while eliminating the complexity and cost of onboard distal motors.
Data Source
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AI summary
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient's cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.