Robotic Grasper Docking Mechanism for Single-Incision Tool Switching
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Minimally invasive surgical procedures face challenges with precision and ease of operation due to the need for multiple incisions, which increase patient vulnerability to infections and hernias, and existing single-incision robotic devices have limitations in degrees of freedom and tool accessibility, requiring cumbersome tool exchanges that disrupt surgical workflow.
Innovation Solution
A system allowing surgeons to exchange between different surgical tools during minimally invasive surgery without removing the robotic device from the surgical site, using a grasper with a docking mechanism and actuation assembly that enables tool switching while maintaining the robotic device's position, allowing intuitive human-like interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple incisions are made to insert different surgical instruments, then the surgeon can access multiple surgical tools and perform different surgical functions, but the patient becomes vulnerable to multiple infections and hernias, as well as skin and soft tissue trauma
Solution Approach 1:
The robotic device is designed with a universal grasper that can accommodate multiple surgical tools through a single docking mechanism. The grasper includes a docking opening that receives a protrusion from the tool, allowing various surgical instruments to be attached to the same robotic arm without requiring multiple incisions.
2Length of moving object
If single incision surgical robotic devices incorporate servomotors, gearboxes, and encoders within the in vivo robot, then the device can be inserted through a single incision, but the robot becomes large with narrow capabilities and requires large incisions
Solution Approach 1:
The actuation mechanisms (servomotors, gearboxes, encoders) are extracted from the in vivo robotic device and placed outside the patient's body. The robotic arm includes external actuation mechanisms that can be remotely controlled, allowing the in vivo portion to remain small and flexible while maintaining full functionality through the external control system.
3Object-affected harmful factors
If surgeons use existing single incision devices with limited degrees of freedom, then fewer incisions are needed, but non-intuitive degrees of freedom require a user interface that allows surgeons to make non-intuitive learned movements
Solution Approach 1:
Instead of requiring the surgeon to learn non-intuitive movements to control the robotic device, the system is designed to replicate the surgeon's natural hand movements. The robotic arm includes degrees of freedom that mirror human arm and hand motion, allowing intuitive control where the surgeon's movements are directly translated to tool movements without requiring learned adaptations.
4Adaptability or versatility
If surgeons remove the entire device from the patient's body to switch between tools, then different surgical functions can be performed, but patient susceptibility to infection, herniation, pain and general morbidity increases and surgical workflow is disrupted
Solution Approach 1:
The system creates a reusable robotic platform that can accommodate multiple surgical tools through a standardized docking mechanism. Instead of removing and replacing entire devices, the surgeon can exchange individual tools at the grasper interface, which is accessible without removing the robotic arm from the patient's body. This copying approach allows the same robotic structure to perform multiple surgical functions.
5Length of moving object
If existing single incision devices are constrained in the number of surgical tools accessible, then the device size can be reduced, but the surgeon has limited access to various surgical functions
Solution Approach 1:
The robotic device incorporates a universal grasper with a standardized docking mechanism that can accommodate multiple different surgical tools. The grasper includes a docking opening that receives a protrusion from various tools, allowing the same robotic arm to perform multiple surgical functions including needle driving, grasping, ablation, cautery, clip application, stabling, sharp dissection, irrigation, and suction through a single incision.
Data Source
Figure 1A~1B
Figure 2A~2D
Figure 3A~3C
AI summary
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.