Robotic Organ Retraction With Force-Sensing Compliant Tips
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Solution Overview
Problem
Existing retractors and space openers in minimally invasive surgery lack control over the force applied to tissue, leading to potential tissue damage due to limited dexterity and lack of feedback.
Innovation Solution
Integration of compliant retractor tips, articulating joints, and integrated force sensors to enable controlled and automated organ retraction, minimizing force applied to tissue through compliant tips and force sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid retractors are used for organ retraction, then structural strength is maintained, but force control and tissue safety deteriorate
Solution Approach 1:
The retractor tip is constructed as a flexible beam structure that can deflect in response to tissue contact forces. This flexible design allows the tip to conform to tissue surfaces while distributing forces more evenly, preventing localized tissue damage while maintaining sufficient retraction capability through the flexible structure's mechanical properties.
Solution Approach 2:
Force sensors are integrated into the retractor system to provide real-time feedback on the forces applied to tissue. This feedback mechanism enables the system to detect when excessive force is being applied and automatically adjust or alert the operator, thereby preventing tissue damage while maintaining effective retraction.
2Device complexity
If manual manipulation of retractors is used, then device simplicity is maintained, but precision and control of force application deteriorate
Solution Approach 1:
The manual mechanical manipulation system is replaced with a robotic actuation system that uses motors and control algorithms to position and adjust the retractor. This substitution provides precise control over force application and retraction depth, eliminating the imprecision inherent in manual manipulation while adding only moderate system complexity.
Solution Approach 2:
The retractor system incorporates automatic adjustment capabilities where force sensors and control algorithms work together to self-regulate the retraction force applied to tissue. The system automatically adjusts the retractor's position and force application based on real-time feedback, eliminating the need for continuous manual adjustment and achieving high precision without proportionally increasing operational complexity.
3Device complexity
If limited dexterity retractors are used, then device complexity is minimized, but adaptability to different surgical sites deteriorates
Solution Approach 1:
The retractor is divided into multiple segments or modules that can be independently controlled. This segmentation allows each segment to be adjusted separately to adapt to different anatomical structures and surgical sites, significantly improving dexterity and adaptability while keeping the overall device architecture relatively simple through modular design.
Solution Approach 2:
The retractor incorporates dynamic adjustment mechanisms including articulating joints and programmable motion control that allow the device to change its configuration and orientation in real-time. This dynamic capability enables the retractor to adapt to various surgical site geometries and tissue arrangements, greatly enhancing versatility without requiring excessive device complexity.
Data Source
AI summary
Disclosed are robotic organ retraction systems, devices, and methods. Organ retraction devices may include compliant retractor tips, articulating joints, integrated force sensors, and automatic retraction capability to enable safe and efficient organ retraction.