Co-Manipulation Robot Arm Coupling for Laparoscopic Instrument Positioning
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access due to the need for assistants to anticipate and adjust instruments, with existing robotic systems being expensive, bulky, and requiring system-specific instruments, limiting seamless instrument positioning and manipulation.
Innovation Solution
A co-manipulation surgical system with a robot arm and controller that automatically switches between passive, co-manipulation, and haptic modes, allowing for seamless positioning and manipulation of surgical instruments, using a base with motors and encoders for precise movement and impedance control, and an optical scanner for depth data and instrument identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a complex robot-assisted system like Da Vinci Surgical System is used, then the surgeon can tele-operatively perform the procedure with enhanced capabilities, but the system becomes very expensive, has a large footprint, and requires unique system-specific surgical instruments
Solution Approach 1:
The system is divided into separate functional modules: a robot arm for positioning, a coupler interface for instrument attachment, and a control system. This segmentation allows the core functionality to be achieved with simpler, less expensive components compared to integrated complex robotic systems.
Solution Approach 2:
The coupler interface is designed to be compatible with standard off-the-shelf surgical instruments rather than requiring proprietary instruments. This universal interface allows the system to work with multiple instrument types from different manufacturers, reducing the need for system-specific instruments and lowering overall system complexity and cost.
2Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold instruments in position, then the tools can be held in position during the procedure, but extensive manual interaction is required to unlock, reposition, and lock the tools
Solution Approach 1:
The robot arm provides dynamic positioning capability, allowing the surgical instrument to be moved and repositioned easily during the procedure without requiring manual unlocking and locking operations. The system transitions from static mechanical positioning to dynamic robotic control, improving ease of operation while maintaining positioning stability.
3Ease of operation
If assistants hold retractor devices and laparoscope devices during laparoscopic procedures, then vision and access can be managed, but the assistants must hold tools in impractical positions and the workflow is limited
Solution Approach 1:
The robot arm autonomously positions and maintains the surgical instrument without requiring human assistants to manually hold and adjust it. The system performs the positioning function itself, eliminating the need for additional human resources and improving workflow flexibility by allowing the surgeon to focus on the procedure without coordinating with assistants for instrument positioning.
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.