Robotic Surgery Controller Layout for Single-Site Instrument Steering
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic surgical systems, particularly for endoluminal and single-site surgery, lack improvements in controller configurations and components that enhance maneuverability and efficiency, limiting their effectiveness in minimally invasive procedures.
Innovation Solution
A controller system comprising a camera controller with three degrees-of-freedom (DOF) motors and pushing actuators, positioned symmetrically between two instrument controllers, allows for enhanced steering and axial translation of a robotically controlled endoscopic camera, along with instrument controllers to steer attachable medical devices, facilitated by a non-transitory computer-readable medium for motor control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional robotic surgical controllers are used, then basic surgical control is provided, but maneuverability and control precision of robotic instruments are limited
Solution Approach 1:
The controller system is divided into separate functional modules: a first instrument controller for controlling first robotic instruments, a second instrument controller for controlling second robotic instruments, and a camera controller for controlling the endoscopic camera. Each controller independently manages its specific instruments, allowing optimized control of each degree of freedom while maintaining overall system coordination through the base station.
2Ease of operation
If multiple incisions are made to access surgical locations, then instrument access is improved, but patient trauma and recovery time increase
Solution Approach 1:
The robotic instruments are designed to be inserted through a single small incision site, with the instruments nested within each other during insertion. The first and second robotic instruments can be sequentially inserted through the same access site, allowing multiple instruments to share a single entry point into the patient's body, thereby minimizing trauma while maintaining surgical accessibility.
3Productivity
If traditional robotic surgery approaches are used, then surgical procedures can be performed, but procedural efficiency and safety are reduced
Solution Approach 1:
The base station receives real-time position and orientation data from both robotic instruments and the endoscopic camera, enabling continuous feedback control. The system can detect instrument positions, calculate spatial relationships, and provide real-time guidance to maintain proper instrument orientation and prevent collisions, thereby enhancing both efficiency and safety during minimally invasive procedures.
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 system provides improved maneuverability and control of robotic surgical instruments, reducing the number of incisions and enhancing procedural safety and efficiency in minimally invasive surgeries.
Implementation Method 1
a camera controller comprising a plurality of motors and configured to steer an attachable robotically controlled endoscopic camera
Implementation Method 2
The camera controller can include one or more pushing actuators (e.g., only pushing actuators)
Data Source
AI summary
A controller system for a robotic surgical system can include a first instrument controller comprising a first plurality of motors configured to steer a first attachable robotically controlled medical device, a second instrument controller comprising a second plurality of motors configured to steer a second attachable robotically controlled medical device, and a camera controller comprising a plurality of motors and configured to steer an attachable robotically controlled endoscopic camera.