Patient-Specific RCM Measuring Instrument for Robotic Uterus Manipulation
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Solution Overview
Problem
Conventional hysterectomy procedures often require clear communication between clinicians to precisely position and orient the uterus, which can lead to inconsistencies and inaccuracies due to potential breakdowns in communication between team members.
Innovation Solution
A robotic system capable of autonomously controlling the position and orientation of the uterus using a uterine manipulator with a colpotomy cup and balloon mechanism, allowing for precise robotic control and minimizing human error.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system is used to control the uterus position, then positioning precision is improved, but device complexity increases
Solution Approach 1:
A patient-specific remote center of motion (RCM) measuring instrument is introduced as an intermediary between the robotic system and the uterus manipulator. This measuring instrument includes a probe with sensors that directly measure the RCM location on the patient's body, providing accurate positioning data to the robotic control system without requiring complex image processing or multiple imaging modalities.
Solution Approach 2:
The system creates a digital model of the patient's specific anatomy by measuring the remote center of motion location and using this information to generate a patient-specific RCM model. This digital copy allows the robotic system to accurately track and maintain the correct pivot point throughout the procedure, achieving high positioning precision while keeping the physical hardware relatively simple.
2Device complexity
If manual communication between clinicians is used to position the uterus, then device complexity is reduced, but positioning accuracy deteriorates
Solution Approach 1:
The system enables self-service positioning by allowing the robotic system to autonomously determine and maintain the correct uterus position based on measured RCM data. The measuring instrument and control system work together to automatically calculate the optimal position and orientation of the uterus manipulator without requiring manual communication or coordination between multiple clinicians.
Solution Approach 2:
The system implements continuous feedback by measuring the RCM location, comparing it to the desired position, and automatically adjusting the manipulator position accordingly. The control system receives real-time data from the measuring instrument and makes corrective adjustments to maintain accurate positioning throughout the procedure.
Data Source
AI summary
An apparatus includes a robotic coupling base configured to selectively coupled with a robotic arm of a robotic surgical system. A shaft extends distally from the robotic coupling base. The shaft includes a distal portion dimensioned to be inserted into a naturally occurring orifice of a patient. A remote center of motion (RCM) measuring feature is associated with the robotic coupling base or the shaft, the RCM measuring feature being configured to communicate with the robotic surgical system while the robotic coupling based is selectively coupled with the robotic arm. The RCM measuring feature is configured to measure a distance between an entry point of the naturally occurring orifice of the patient and a predetermined location of the apparatus. The RCM measuring feature is further configured to communicate the distance to the robotic surgical system.