Robotic Needle Guide Jaws for Precise Insertion and Safe Release
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Solution Overview
Problem
Existing surgical procedures using robotic arms for needle insertion in minimally invasive surgery are dependent on operator skill, lack precision, and expose patients to radiation, with risks of injury due to uncontrolled needle movement and the need for sequential insertion of needles of varying diameters.
Innovation Solution
A needle guiding device with a tool holder and optical navigation system, featuring jaws that rotate between guiding and disengagement positions, allowing precise needle insertion and release without contact, and accommodating different needle diameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual needle insertion is performed by the operator, then the procedure can be completed with simple equipment, but the precision of needle placement is low and medical errors are frequent
Solution Approach 1:
The patent replaces manual mechanical needle insertion with an automated robotic arm system that uses optical navigation and computer-controlled mechanisms to guide the needle along a precise trajectory, eliminating operator skill dependency and significantly improving placement precision
Solution Approach 2:
The patent introduces a needle guide as an intermediary component between the robotic arm and the needle, which maintains the needle's axis position and ensures accurate trajectory control during insertion, while also providing a reference for optical navigation systems
2Measurement precision
If remotely controlled robotic arms are used for needle insertion, then precision is improved, but continuous imaging is required which exposes the patient to radiation
Solution Approach 1:
The patent uses optical navigation systems to pre-map the surgical site and calculate the optimal needle trajectory before insertion begins, allowing the robotic arm to navigate to the target using pre-acquired anatomical data rather than requiring continuous real-time imaging during the procedure
Solution Approach 2:
The patent replaces radiation-based continuous imaging with optical navigation systems that use reflective markers and camera-based tracking to monitor needle position, eliminating the need for continuous X-ray or CT imaging during the procedure
3Measurement precision
If the needle guide remains stationary during needle insertion, then precise trajectory control is maintained, but the guide cannot adapt to sequential insertion of multiple needles of different diameters
Solution Approach 1:
The patent makes the needle guide dynamic by allowing it to be repositioned and reoriented between needle insertions while maintaining stability during each individual insertion, enabling adaptation to different needle diameters and target locations through controlled movement of the guide itself
Solution Approach 2:
The patent designs the needle guide with universal features including adjustable clamping mechanisms and repositionable mounting that allow it to accommodate needles of various diameters and guide them to different target locations, making a single guide structure suitable for multiple different insertion scenarios
4Adaptability or versatility
If the guide releases the needle after insertion, then sequential needle insertion is enabled, but uncontrolled movement of the needle may occur causing patient injury
Solution Approach 1:
The patent pre-positions the needle within the guide's clamping structure before insertion, ensuring the needle is securely held and its trajectory is precisely defined before the insertion process begins, preventing any uncontrolled movement during or after the procedure
Solution Approach 2:
The patent uses automated robotic control mechanisms to release the needle from the guide in a controlled manner after precise insertion, replacing manual release operations that could cause uncontrolled needle movement, and using sensors to verify proper needle placement before release
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures accurate needle placement, prevents accidental movement, reduces radiation exposure, and facilitates the use of multiple needles during a single procedure, enhancing surgical precision and safety.
Implementation Method 1
an optical navigation system intended to be connected to a control unit of the robotic arm which determines, on the basis of information transmitted by said optical navigation system, the position of the first jaw and second jaw relative to each other
Data Source
Figure 1~2
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Figure 5~6
AI summary
The needle guiding device (20) comprises a tool holder (21) for attachment to the end of a robotic arm (10) for medical assistance. The tool holder (21) supports a needle guide (22). The needle guide comprises two jaws (30, 40), each having a groove (35, 45). The grooves extend along parallel longitudinal axes. The jaws (30, 40) are supported by the tool holder in such a way as to allow rotational movement of the jaws (30, 40) relative to each other between a position called the "guiding position," in which the grooves (35, 45) are contiguous and define a guiding channel (23) for a needle, and a position called the "disengagement position," in which the grooves (35, 45) are separated from each other. the other and define a lateral clearance zone for a needle.