Robotic Unit for Microsurgery with XYZ Platform and Shutter
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Solution Overview
Problem
Current microsurgical procedures for cataract surgery, such as intraocular surgery, face challenges in precision and efficiency due to the manual dexterity required, which can lead to variability in technique and increased risk of complications.
Innovation Solution
A robotic system designed for microsurgical procedures, featuring robotic units with end effectors, tool mounts, and XYZ platforms that allow for precise control and movement of surgical tools within the eye, enabling operators to perform tasks like phacoemulsification and intraocular lens insertion with enhanced precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual microsurgical procedures are performed, then surgical flexibility and adaptability are maintained, but precision and consistency deteriorate due to human variability
Solution Approach 1:
The robotic system acts as an intermediary between the surgeon's intent and the surgical action. The surgeon controls the robotic arm through a console, and the robotic arm executes the surgical movements with enhanced precision. This mediator resolves the contradiction by translating manual control into highly precise, consistent movements while maintaining surgical flexibility through the surgeon's ability to adjust control parameters and intervene when needed.
Solution Approach 2:
The patent replaces the direct mechanical manipulation by the surgeon's hand with a robotic mechanical system. The robotic arm with its multiple degrees of freedom and precise actuators substitutes the surgeon's manual dexterity, providing superior precision and consistency while eliminating human variability. The robotic system maintains flexibility through programmable movements and real-time control adjustments.
2Measurement precision
If robotic automation is increased, then precision and consistency improve, but device complexity and cost increase
Solution Approach 1:
The robotic system is designed with multi-functionality to justify its complexity. The robotic arm can perform multiple surgical tasks including incision, phacoemulsification, and IOL insertion using different surgical instruments. This universality distributes the complexity across multiple uses, making the high initial complexity worthwhile by eliminating the need for multiple specialized robotic systems.
Solution Approach 2:
The robotic system is segmented into modular components: the robotic arm with multiple joints, the surgical instrument holder, the control console, and the imaging system. This segmentation allows each component to be optimized independently and facilitates maintenance and upgrades, making the overall complexity manageable despite the high precision requirements.
3Measurement precision
If robotic units are positioned close to the patient for precision, then surgical precision improves, but access for manual intervention deteriorates
Solution Approach 1:
The robotic system incorporates dynamic positioning capabilities, allowing the robotic arm to be precisely positioned during surgery and then easily repositioned when manual intervention is needed. The robotic arm can maintain stable positioning for precision work and then quickly move to allow surgeon access. This dynamic adaptability resolves the contradiction between precision positioning and accessibility.
Solution Approach 2:
The system uses real-time feedback from imaging systems and sensors to monitor the surgical field and tool positions. This feedback allows the robotic system to automatically adjust its position and timing, coordinating with potential manual interventions. The feedback mechanism ensures that when the surgeon needs to access the surgical site, the robotic arm can pause or reposition appropriately, maintaining both precision and accessibility.
Data Source
AI summary
Apparatus and methods are described including a robotic unit (20) that includes an end effector (35) and a tool mount (34) configured to securely hold tools (21). Robotic arms (120) rotate the tools through pitch and yaw rotations. An XYZ platform (110) moves the robotic unit (20) along X and Y directions within an XY plane, and along a Z direction that is perpendicular to the XY plane. The XYZ platform (110) includes a first slidable shutter (122) that is configured to cover an interior of the XYZ platform (110) by sliding along the X direction as the robotic unit (20) is moved along the X direction, and a second slidable shutter (123) that is configured to cover an interior of the XYZ platform (110) by sliding along the Y direction as the robotic unit (20) moved along the Y direction. Other applications are also described.