Robotic Telemanipulators With Integrated Laparoscopy for Surgical Dexterity
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Solution Overview
Problem
Existing surgical robotic systems are costly, bulky, complex, and limit surgeon access to the patient, requiring non-sterile operation consoles and inefficient dexterity due to fulcrum effect and inertia, limiting their use to simple surgeries.
Innovation Solution
A remotely actuated surgical robot system with robotic telemanipulators that are integratable into the operating room, allowing sterile surgeon access, featuring removable handles and end-effectors with synchronized macro and micro movements, and adjustable slave console configurations for enhanced dexterity and reduced inertia.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional laparoscopic instrumentation is used, then minimally invasive surgery is achieved, but dexterity and sensitivity are reduced due to fulcrum effect and inverted movements
Solution Approach 1:
The robotic telemanipulator replicates the surgeon's hand movements at the instrument tip, creating a direct mapping between master and slave manipulator motions. This copying approach eliminates the fulcrum effect and inverted movements inherent in traditional laparoscopy, providing intuitive control without mechanical amplification or rotation of movements
Solution Approach 2:
The system replaces the mechanical lever-based laparoscopic instrumentation with a robotic telemanipulator system that uses computerized control and feedback mechanisms. This substitution eliminates the need for long rigid instruments acting as levers, replacing them with flexible cables and automated positioning systems that provide direct movement transmission
2Manufacturing precision
If robotic surgical systems are used, then dexterity and precision are improved, but system complexity and cost increase significantly
Solution Approach 1:
The system extracts only the essential robotic functions needed for surgical precision—specifically the telemanipulator with master-slave control—while eliminating unnecessary components found in conventional robotic surgical systems. This selective extraction reduces system complexity and cost while maintaining the core advantage of enhanced dexterity and precision
Solution Approach 2:
The robotic telemanipulator is designed to perform multiple surgical functions through a single integrated system, replacing the need for multiple specialized robotic arms and complex integrated systems. The single manipulator can execute various surgical tasks with different end-effectors, reducing overall system complexity while maintaining surgical precision
3Adaptability or versatility
If conventional robotic systems are used, then remote surgery capability is achieved, but surgeon access to patient is limited and preparation time increases
Solution Approach 1:
The slave console is designed with dynamic reconfigurability, allowing it to be rapidly adjusted between robotic surgery mode and manual laparoscopic mode. This dynamic adaptability enables the surgeon to quickly access the patient when needed without lengthy reconfiguration, reducing preparation time while maintaining versatile access capability
Solution Approach 2:
The system separates the robotic control functions from the surgical access functions, allowing the slave console to be independently reconfigured. This segmentation enables rapid transition between operational modes by simply adjusting the slave console position and configuration, rather than reconfiguring the entire surgical system
4Length of moving object
If long rigid instruments are used in laparoscopy, then minimally invasive access is achieved, but surgeon posture becomes uncomfortable and tiring
Solution Approach 1:
The system replaces long rigid mechanical instruments with a robotic telemanipulator that uses flexible cable-driven actuation and computerized control. This substitution allows the surgeon to operate from a comfortable seated position at the master console, eliminating the need to maintain awkward postures required by long rigid laparoscopic instruments
Data Source
AI summary
Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integratable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.