Robotic Microsurgical Tool Mount With Roller Securement
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Solution Overview
Problem
Current microsurgical procedures for cataract removal, such as phacoemulsification, require manual dexterity and precision, which can be challenging for surgeons, especially in robotic-assisted surgeries, due to the complexity of tool handling and precise movements needed for various steps like incision making, fluid injection, and lens manipulation.
Innovation Solution
A robotic system equipped with universal tool mounts and linear tool-actuation arms that allow for secure engagement and precise actuation of multiple surgical tools, including syringes and phacoemulsification probes, enabling controlled movements and functions through a computer processor-driven system, facilitating precise control and automation of surgical tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual microsurgical techniques are used for cataract removal, then surgical flexibility and adaptability are maintained, but surgical precision and consistency deteriorate due to human error and fatigue
Solution Approach 1:
The patent replaces manual mechanical surgical operations with an automated robotic system. The robotic arm executes pre-planned surgical paths with sub-millimeter precision, eliminating human hand tremors and fatigue. The system uses computer-controlled actuators to manipulate surgical instruments, transforming manual mechanical control into automated precision control.
Solution Approach 2:
The robotic system performs surgical tasks autonomously based on pre-operative planning. The computer processor automatically calculates surgical parameters, determines incision locations, and controls instrument movements without continuous human intervention, allowing the system to serve itself in executing the surgical procedure.
2Adaptability or versatility
If multiple specialized surgical tools are used for different surgical steps, then surgical functionality is improved, but device complexity and tool handling difficulty increase
Solution Approach 1:
The robotic system employs a universal end effector design that can accommodate multiple surgical instruments including incision makers, viscoelastic injectors, and phacoemulsification probes. This single multi-functional interface replaces the need for multiple specialized mounting mechanisms, simplifying tool handling while maintaining surgical versatility.
Solution Approach 2:
The surgical procedure is divided into discrete steps (incision, viscoelastic injection, phacoemulsification, irrigation/aspiration), with each step handled by a specialized instrument that is sequentially mounted on the robotic arm. This segmentation allows the system to perform complex multi-step surgery using modular, interchangeable tools.
3Reliability
If automated robotic control is implemented, then surgical precision and consistency are improved, but system complexity and initial operational difficulty increase
Solution Approach 1:
The system performs pre-operative planning and path calculation before the actual surgery. The computer processor analyzes patient-specific anatomy from imaging data and pre-determines optimal incision locations, depths, and instrument trajectories. This preliminary computational work simplifies the real-time surgical execution, as the robotic arm only needs to follow pre-calculated paths.
Solution Approach 2:
The robotic system incorporates real-time feedback mechanisms that monitor instrument position, depth, and tissue resistance. The computer processor continuously adjusts control parameters based on this feedback, ensuring consistent surgical outcomes. Force sensors detect tissue engagement and automatically adjust insertion forces to prevent tissue damage.
Data Source
AI summary
Apparatus and methods are described for performing robotic microsurgery on a patient's body. Two or more tools (21) each include a mount-engagement portion (32) that defines a front recess (82) and a rear recess (84). A tool mount (34) defines a tool-receiving socket (86) securely holds the one or more tools. The tool-mount (34) includes a rear set of rollers (94) that are configured to be placed within the rear recess (84) and a front set of rollers (92) that are configured to be placed within the front recess (82). A tool-securement cover that is hingedly coupled to the tool-receiving socket (86) is configured to secure the tool (21) within the tool-receiving socket (86). A motor (93) rolls the tool (21) with respect to the tool mount (34), while the tool (21) is securely held within the tool mount (34). Other applications are also described.