Robotic Endoscope Virtual Rail for Ergonomic Surgical Alignment
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Solution Overview
Problem
Current endoscopic devices for robotic-assisted surgery suffer from limited ergonomics, usability, and navigation capabilities, requiring awkward hand and arm motions, and often necessitate support personnel for operation, with issues related to curve alignment and muscling during bending operations.
Innovation Solution
A robotic system comprising a sheath with a controllable and articulable distal end, mounted on multiple degrees of freedom (DOF) robotic arms, allowing for improved control and navigation within the body, with a flexible endoscope and working channels, and modular designs for various procedures, enabling precise movement and reduced physical strain on surgeons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual actuation of bending sections is used, then the endoscope can be controlled to navigate anatomical pathways, but the physician experiences poor ergonomics and physical strain
Solution Approach 1:
The patent replaces the manual mechanical control system with an automated robotic system. The robotic arm with multiple DOF actuators takes over the physical manipulation of the endoscope, eliminating the need for physicians to manually contort their hands and arms. The bending sections are actuated by robotic mechanisms rather than manual lever manipulation.
Solution Approach 2:
The robotic system performs the navigation and positioning tasks autonomously based on programmed commands. The endoscope system includes integrated actuators and control mechanisms that enable self-positioning and self-navigation through anatomical pathways without requiring continuous manual intervention.
2Adaptability or versatility
If pull wires are used for bending control, then the endoscope can articulate, but curve alignment and muscling issues occur
Solution Approach 1:
The patent removes the traditional pull wire mechanism from the endoscope design. Instead of using tensioned wires that cause muscling and alignment issues, the system employs alternative actuation methods such as shape memory alloys, magnetic actuators, or robotic external manipulation that do not rely on pull wire tensioning.
Solution Approach 2:
The patent changes the fundamental actuation parameter from mechanical wire tension to alternative mechanisms such as thermal activation (shape memory alloys), magnetic field interaction, or robotic positional control. This parameter change eliminates the muscling and curve alignment problems inherent in pull wire systems.
3Adaptability or versatility
If multiple levers and dials are provided for endoscope control, then various functionalities are available, but the device becomes complex and difficult to operate
Solution Approach 1:
The patent merges multiple separate control functions into a unified robotic control system. Instead of requiring separate levers and dials for bending, positioning, and navigation, all these functions are integrated into a single robotic arm system with coordinated multi-DOF actuators that can perform all operations through programmated motion sequences.
Solution Approach 2:
The robotic control system serves multiple functions simultaneously - it can position the endoscope, control bending sections, manage navigation, and coordinate imaging all through a single integrated platform. This universal system replaces the need for multiple specialized manual controls.
4Reliability
If support personnel are required to operate and remove devices, then comprehensive control is possible, but procedure efficiency decreases
Solution Approach 1:
The robotic system is designed to autonomously perform device insertion, navigation, operation, and removal tasks. The system includes self-contained actuators, positioning mechanisms, and control algorithms that enable the endoscope to navigate and be retrieved without requiring support personnel to physically manipulate the device.
Data Source
AI summary
Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.