Proximal Control of Surgical Instruments via Linkage System

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing minimally invasive robotic surgical systems face challenges in controlling surgical instruments without collisions, especially when working through narrow anatomical entry points, as they are constrained by a remote center of motion, which limits maneuverability and increases the risk of instrument collisions.

Innovation Solution

A robotic surgical system with a proximal mounting section and a distal mounting section, featuring an instrument guide and actuators, along with a linkage system that allows for independent motion control of surgical instruments, enabling them to pivot with rotational degrees of freedom near the proximal end, thus avoiding collisions and improving maneuverability in confined spaces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If a remote center of motion is maintained at the anatomical entry point, then the surgical instruments can be controlled from a remote location, but the instruments may collide with each other when introduced through narrow entry ports

Engineering Contradiction:

Improveremote control capabilityVSAvoidinstrument collision risk

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent inverts the traditional remote center of motion concept by relocating the center of rotation from the distal anatomical entry point to a proximal location on the robotic manipulator. This inversion allows instruments to pivot about a common proximal point rather than requiring them to converge at the distal entry point, thereby eliminating collisions while maintaining remote control capability

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent introduces an additional degree of freedom by allowing the proximal center of rotation to move along the instrument shaft axis. This dimensional change transforms the fixed remote center constraint into a movable proximal center system, providing flexibility in instrument positioning and orientation without causing collisions at the entry point

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Object-affected harmful factors

If multiple surgical instruments are introduced through a single small entry port, then minimally invasive surgery is achieved, but the instruments have limited maneuverability due to parallel shaft constraints

Engineering Contradiction:

Improvetissue damage reductionVSAvoidinstrument maneuverability

Core Design Contradiction:

Object-affected harmful factorsVSAdaptability or versatility

Solution Approach 1:

The patent makes the center of rotation dynamic by allowing it to move along the instrument shaft rather than being fixed at a single distal point. This dynamic adjustment enables the instrument to adapt its pivot point based on surgical needs, improving maneuverability while maintaining the minimally invasive benefit of small entry ports

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent segments the motion control into two independent components: proximal rotation about a moving center and distal instrument manipulation. This segmentation allows the proximal center to provide stable rotational control while the distal instrument maintains flexibility for surgical operations, resolving the maneuverability constraint

Inventive Principle:

Principle #1Segmentation

3Measurement precision

If the center of rotation is located at the anatomical entry point, then precise instrument control is achieved, but large manipulator arms are required which cannot fit through small entry points

Engineering Contradiction:

Improveinstrument position controlVSAvoidmanipulator arm length

Core Design Contradiction:

Measurement precisionVSLength of moving object

Solution Approach 1:

The patent introduces a virtual moving center of rotation as an intermediary between the proximal manipulator and the distal instrument. This virtual center, which can be positioned anywhere along the instrument shaft through software control, allows precise position control without requiring physically large manipulator arms, effectively decoupling control precision from physical dimensions

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11484376B2Systems and methods for proximal control of a surgical instrument

Publication Date: 2022.11.01 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A robotic surgical system comprises an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section. The robotic surgical system further comprises an actuation system coupled to the proximal mounting section. The robotic surgical system further comprises a linkage system operably coupled between the actuation system and the distal mounting section. The linkage system includes an instrument guide. The robotic surgical system further comprises a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide. The surgical instrument is pivotable via the instrument guide relative to the chassis axis.