Retractable Robotic Arms for Endoscopic GI Dissection

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Solution Overview

Problem

Current endoscopic instruments are inadequate for performing surgical dissections in the gastrointestinal tract, particularly in the colon, due to their rigidity, limited maneuverability, and high risk of complications such as perforation and bleeding, which often necessitate major invasive surgery for larger lesions.

Innovation Solution

A miniature robotic device integrated with a flexible endoscope, featuring retractable robotic arms with degrees of freedom for precise manipulation and dissection, allowing en-bloc excision with clear margins and reduced risk of complications.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If rigid operating rectoscope is used for T.E.M. surgery, then surgical precision and control are improved, but patient comfort deteriorates and general anaesthesia is required

Engineering Contradiction:

Improvesurgical precisionVSAvoidpatient comfort

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent applies a flexible endoscope with retractable robotic arms, where the endoscope shaft is made flexible to navigate the gastrointestinal tract without requiring general anaesthesia, while the robotic arms provide the necessary surgical precision for dissection and manipulation of neoplasms

Inventive Principle:

Principle #30Flexible shells and thin films

2Ease of operation

If flexible endoscope with diagnostic instruments is used, then patient comfort is improved, but surgical maneuvering capability deteriorates

Engineering Contradiction:

Improvepatient comfortVSAvoidsurgical maneuvering capability

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The patent combines diagnostic flexible endoscope functionality with surgical robotic arms into a single integrated system, allowing both diagnostic imaging and surgical manipulation (dissection, suture, stapling) to be performed through the same flexible endoscope channel

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robotic device integrates multiple surgical functions including dissection, manipulation, suture, and stapling capabilities within a single multi-functional platform that can be introduced through natural orifices, making the flexible endoscope suitable for both diagnostic and therapeutic purposes

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Loss of time

If Endoscopic Mucosal Resection (EMR) is used, then procedure time is reduced, but en-bloc excision capability and oncological radicality deteriorate for lesions larger than 2 cm

Engineering Contradiction:

Improveprocedure timeVSAvoiden-bloc excision capability

Core Design Contradiction:

Loss of timeVSManufacturing precision

Solution Approach 1:

The patent employs dynamic robotic arms with multiple degrees of freedom that can adapt their configuration during the procedure, enabling precise en-bloc dissection of large neoplasms while maintaining procedural efficiency through automated manipulation and real-time adjustment of instrument positions

Inventive Principle:

Principle #15Dynamics

4Manufacturing precision

If Endoscopic Submucosal Dissection (ESD) is used, then en-bloc excision capability is improved, but procedure time increases and risk of perforation increases for lesions larger than 2 cm

Engineering Contradiction:

Improveen-bloc excision capabilityVSAvoidprocedure time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The patent replaces the manual mechanical dissection process with an automated robotic system that uses controlled mechanical movements, electrically driven actuators, and computer-assisted navigation to perform submucosal dissection, thereby maintaining en-bloc excision capability while reducing procedure time and perforation risk through more precise and consistent instrument control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

5Ease of operation

If current endoscopic resection devices are used, then ease of introduction through natural orifices is improved, but surgical precision and control deteriorate

Engineering Contradiction:

Improveease of introductionVSAvoidsurgical precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent segments the surgical system into a flexible endoscope for navigation and introduction through natural orifices, and separate robotic arms for precise surgical operations, allowing each component to be optimized for its specific function while working together as an integrated system

Inventive Principle:

Principle #1Segmentation

Data Source

PatentEP2976020B1A miniature robotic device applicable to a flexible endoscope for the surgical dissection of gastro-intestinal tract surface neoplasms

Publication Date: 2019.08.21 UNIV DEGLI STUDI DI TORINO

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AI summary

A miniature robotic device designed to be coupled to a flexible endoscope for the surgical dissection of gastrointestinal tract surface neoplasms comprising a cap body (1) removably fixable to a distal end of the endoscope and at least two robotic arms (3, 4), slidably supported within a cap body (1), for performing manipulative and surgical dissection operations. The device also comprises drive means (15) for sliding the arms along the cap body (1) for placing them in an operative position, in which they protrude from the cap body (1), and in a rest position, in which they are retracted within the cap body (1).