Robotic Surgical Alignment via Intersecting Laser Beams

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Solution Overview

Problem

Current robotic surgical systems, despite advancements in laser-assisted technologies, are unable to perform physical manipulation tasks such as removing an emulsified lens or inserting an intraocular lens implant during cataract surgery, which limits their application in intraocular procedures.

Innovation Solution

A robotic surgical system equipped with a positioning stage and manipulator arms featuring a pair of lasers that intersect at a remote center of motion, allowing for precise alignment and visualization of the surgical site, enabling the robotic system to constrain and accurately position surgical tools within a body part.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If laser-based technologies are used for autonomous completion of cataract surgery procedures, then precision and automation are improved, but the ability to perform physical manipulation tasks is lost

Engineering Contradiction:

Improveautonomous completion of proceduresVSAvoidability to perform physical manipulation

Core Design Contradiction:

Extent of automationVSAdaptability or versatility

Solution Approach 1:

The system merges laser-based automated procedures with robotic manipulator arms that can perform physical manipulation tasks. The robotic system integrates both laser delivery capabilities and mechanical manipulation tools, allowing autonomous execution of laser procedures while maintaining the ability to perform manual manipulation tasks such as lens removal and IOL implantation.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robotic surgical system is designed with multi-functionality to perform both laser-based procedures and manual manipulation tasks. The system can autonomously execute laser procedures while also being capable of physical manipulation through its manipulator arms, creating a universal platform that handles both automated and manual surgical requirements.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Measurement precision

If robotic manipulator is used for precise positioning, then positioning accuracy is improved, but system complexity increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system replaces complex mechanical positioning mechanisms with a robotic manipulator arm that uses computer-controlled actuation and sensor feedback for positioning. The robotic system substitutes traditional mechanical alignment methods with automated control systems, achieving high positioning accuracy while managing complexity through software-based control rather than purely mechanical means.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robotic manipulator incorporates feedback mechanisms including sensors and control systems that continuously monitor and adjust the position of surgical tools. This feedback loop enables precise positioning by comparing actual positions with target positions and making real-time corrections, achieving high accuracy while the complexity is managed through automated control algorithms.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If lasers are used for alignment visualization, then alignment precision is improved, but energy consumption increases

Engineering Contradiction:

Improvealignment precisionVSAvoidenergy consumption

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The system uses lasers for alignment visualization in a periodic or intermittent manner rather than continuously. Lasers are activated only when alignment visualization is needed during specific surgical steps, and deactivated otherwise. This periodic usage maintains high alignment precision when required while significantly reducing overall energy consumption compared to continuous laser operation.

Inventive Principle:

Principle #19Periodic action

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 achieves precise alignment and positioning of surgical tools, reducing stress at the incision site and minimizing post-operative complications like corneal incision leakage, allowing for efficient and accurate execution of intraocular surgical procedures.

Implementation Method 1

the tool carriage includes a base and a pair of light emitting devices mounted to the base

Methodology Applied

Scientific EffectLight emission: Light

Data Source

PatentUS11564757B2Laser-assisted surgical alignment

Publication Date: 2023.01.31 RGT UNIV OF CALIFORNIA

AI summary

A robotic surgery system includes: (1) a positioning stage and (2) at least one manipulator arm mounted to the positioning stage, wherein the manipulator arm includes a track and a tool carriage moveably mounted to the track, and the tool carriage includes a base and a pair of light emitting devices mounted to the base.