Robotic Arm Remote Center Adjustment for Easier Tool Navigation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing medical procedures, such as laparoscopy, face challenges in efficiently accessing and maneuvering medical instruments due to limitations in adjusting remote center distances, which can lead to friction and awkward arm motions for physicians, especially in minimally invasive procedures like bronchoscopy and ureteroscopy.
Innovation Solution
A robotic medical system with multiple robotic arms and instrument drivers that allow independent manipulation of tools through separate cannulas, enabling adjustable remote center distances and enhanced navigation, reducing friction and improving ergonomic access.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed remote center distance is used in robotic medical procedures, then the system structure is simple, but the ease of operation deteriorates due to friction and awkward arm motions
Solution Approach 1:
The patent implements dynamic adjustment of the remote center distance, allowing the system to transition from a fixed to a variable configuration. The robotic arm system enables real-time modification of the remote center distance parameter, transforming the static mechanical structure into a dynamic one that adapts to different surgical requirements, thereby improving ease of operation without permanently increasing device complexity
Solution Approach 2:
The system allows changing the remote center distance parameter during operation. By adjusting this critical geometric parameter, the robotic system can optimize its kinematic performance for different surgical scenarios, reducing friction and awkward motions while maintaining a relatively simple base structure that doesn't require complete redesign for different configurations
2Productivity
If remote center distance is adjustable, then procedural ease is enhanced, but the device complexity increases due to additional adjustment mechanisms
Solution Approach 1:
The robotic arm system is designed with multi-functionality, serving both as the primary actuator and as the mechanism for remote center distance adjustment. The same robotic joints and actuators that position the instrument also enable dynamic reconfiguration of the remote center distance, eliminating the need for separate adjustment mechanisms and reducing overall device complexity while enhancing procedural ease
3Adaptability or versatility
If multiple robotic arms with different remote center distances are used, then adaptability improves, but device complexity increases
Solution Approach 1:
Rather than using multiple fixed robotic arms with different remote center distances, the patent employs dynamic reconfiguration of a single robotic arm system. The ability to adjust the remote center distance in real-time provides the same adaptability as having multiple specialized arms, but with reduced device complexity since only one adjustable arm is needed instead of multiple fixed arms
Data Source
AI summary
Systems and methods for adjusting remote center distances in medical procedures are provided. In one aspect, a robotic medical system includes a first robotic arm including a first instrument driver, wherein the first instrument driver is configured to manipulate a first tool that passes through a first cannula, and a second robotic arm including a second instrument driver, wherein the second instrument driver is configured to manipulate a second tool that passes through a second cannula. The first tool is configured to rotate about a first remote center of motion and the second tool is configured to rotate about a second remote center of motion. A first remote center distance between the first robotic arm and the first remote center of motion is different from a second remote center distance between the second robotic arm and the second remote center of motion.