Retractable Needle End Effector for Robotic Surgical Injection
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Solution Overview
Problem
Current surgical robotic systems face challenges with needle catheters used for drug injection, which pose safety risks and damage laparoscopic ports, and leakage of indocyanine green (ICG) affects NIR imaging accuracy.
Innovation Solution
A surgical instrument with a reusable hub assembly and retractable needle end effector, including a longitudinal shaft, spring, and sheath, which is actuated by an instrument drive unit to safely inject bioactive agents or contrast agents into targeted tissue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a long needle catheter is used for drug injection in robotic procedures, then injection capability is achieved, but safety risks to users and inadvertent tissue contact increase
Solution Approach 1:
The needle is nested within a protective sheath that covers it during insertion and positioning. The sheath can be retracted to expose the needle only when needed for injection, and then re-extended to cover the needle again, preventing inadvertent tissue contact and improving user safety while maintaining injection capability
Solution Approach 2:
The catheter system is segmented into distinct functional components: a protective sheath, an inner needle, and a hub assembly. This segmentation allows the sheath to independently protect the needle during non-injection phases while enabling precise control of needle exposure only when injection is required, thereby reducing safety risks without compromising injection function
2Ease of operation
If a needle catheter is passed through a laparoscopic port with pressure seals, then injection access is achieved, but the needle may damage the seals
Solution Approach 1:
The needle is nested within a protective sheath that extends beyond the needle tip. During port insertion, the sheath protects the needle from contacting and damaging the pressure seals. The sheath can be retracted only after safe passage through the port, allowing needle exposure for injection without compromising the seal integrity
3Ease of operation
If ICG is ejected from the needle for tissue marking, then marking capability is achieved, but leaked ICG spreads and loses usefulness in mapping
Solution Approach 1:
The protective sheath acts as an intermediary between the needle and the tissue environment. It controls the release of ICG by preventing premature leakage during insertion and positioning. The sheath can be retracted in a controlled manner to allow precise ICG ejection at the target site, ensuring the marking agent remains localized and maintains mapping accuracy
4Object-affected harmful factors
If a retractable needle end effector with sheath is used, then safety and port protection are improved, but device complexity increases
Solution Approach 1:
The sheath and needle are nested within each other in a compact configuration that minimizes space requirements. The hub assembly integrates the actuation mechanisms for both sheath retraction and needle deployment, consolidating controls and reducing overall structural complexity while maintaining the safety benefits of the retractable design
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
The solution provides safe and precise injection without damaging ports or affecting imaging accuracy, enhancing the safety and efficacy of minimally invasive procedures.
Implementation Method 1
The needle end effector also includes an injection needle, a spring, and a retractable sleeve
Implementation Method 2
The reusable hub assembly also includes a piston shaft, which is configured to push the composition from the container to deliver the composition at a targeted tissue location
Data Source
AI summary
A surgical robotic system includes a robotic arm having an instrument drive unit. The surgical robotic system also includes a surgical instrument that is coupled to the instrument drive unit. The surgical instrument includes a hub assembly with a hub housing and a longitudinal shaft extending from the hub housing. The surgical instrument also includes an end effector that is coupled to a distal end portion of the longitudinal shaft. The end effector includes a container with a composition (e.g., contrast dye or drug). The end effector also includes a needle coupled to the container and a sheath disposed over the needle and longitudinally movable relative to the needle from an extended position in which the needle is enclosed within the sheath to a retracted position in which the needle extends out of the sheath.