Robotically Driven Colpotomy Cup Actuation for Uterine Manipulators
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Solution Overview
Problem
Existing medical instruments and systems lack the ability to perform minimally invasive procedures with enhanced imaging and guidance, requiring awkward arm motions and are not easily controllable by a single user, particularly in robotically assisted surgeries.
Innovation Solution
A robotically-enabled medical system with a cart-based or table-based configuration that includes robotic arms and a control tower, allowing for precise manipulation of medical instruments, enhanced imaging, and single-user control, with features like virtual rails and adjustable carriages for ergonomic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional medical instruments are used for minimally invasive procedures, then the procedures can be performed, but the ease of operation deteriorates due to awkward arm motions and lack of single-user control
Solution Approach 1:
The system is divided into separate functional modules: robotic arms for positioning, end effectors for instrument manipulation, and a cart-based control system. This segmentation allows each component to be optimized independently while working together to provide ease of operation through automated positioning and single-user control interfaces.
Solution Approach 2:
A cart-based control system serves as an intermediary between the user and the robotic instruments. This intermediary provides ergonomic controls, real-time imaging, and automated functions that mediate between operator input and instrument execution, improving ease of operation while managing system complexity.
2Measurement precision
If robotically enabled systems with multiple components are implemented, then precise instrument manipulation and single-user control are achieved, but device complexity increases
Solution Approach 1:
The robotic arms and end effectors are designed with multi-functionality to perform various surgical tasks through a single integrated system. The universal design allows different instruments to be mounted on the robotic arms while maintaining precise control, achieving precision without proportionally increasing complexity.
Solution Approach 2:
Manual mechanical control is replaced with automated robotic actuation and electronic control systems. This substitution enables precise instrument manipulation through computer-controlled motors and sensors while consolidating control functions into a single user interface, managing complexity through automation rather than additional mechanical components.
3Illumination intensity
If traditional surgical setups are used, then procedures can be performed, but imaging quality and ergonomic operation deteriorate
Solution Approach 1:
The system merges imaging capabilities directly into the surgical workspace by integrating cameras, light sources, and display systems with the robotic arms and control cart. This merging provides enhanced imaging quality while maintaining ergonomic operation through a unified interface that combines all functions in a single workstation.
Data Source
AI summary
An apparatus includes a base portion, a shaft, a colpotomy cup, and a colpotomy cup actuation assembly. The colpotomy cup is slidably attached along a length of the shaft and is configured to acuate along the shaft between a proximal position and a distal position. The a colpotomy cup actuation assembly is configured to drive the colpotomy cup between a proximal position and a distal position. The colpotomy cup actuation assembly includes an actuating assembly configured to operatively couple with a drive output of a robotic arm. The colpotomy cup actuation assembly further includes an elongated member extending distally from the actuating assembly and terminating into a distal end fixed relative to the colpotomy cup. The actuating assembly is configured to drive movement of the elongated member relative to the elongated shaft to thereby drive movement of the colpotomy cup between the proximal position and the distal position.