Robotic Telemanipulators With Integrated Laparoscopy and Sterile Access
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Solution Overview
Problem
Existing surgical robotic systems are costly, complex, bulky, and limit surgeon access to the patient, requiring non-sterile consoles and complex mechanical telemanipulators that hinder dexterity and precision.
Innovation Solution
A remotely actuated surgical robot system with robotic telemanipulators that are low-cost, integrate seamlessly into the operating room, allow sterile surgeon interaction, and enable integrated laparoscopy, featuring a sterile master console with removable handles and a slave console that can flip between workspaces, with synchronized macro and micro-movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If traditional laparoscopic instrumentation is used, then minimally invasive surgery is achieved, but surgeon dexterity and precision are reduced due to the fulcrum effect and inverted movements
Solution Approach 1:
The robotic telemanipulator copies the surgeon's hand movements directly to the instrument tip, eliminating the fulcrum effect and inverted movements inherent in traditional laparoscopy. The master manipulator is designed to replicate natural hand motions while the slave manipulator reproduces these movements at the surgical site with enhanced precision and without the mechanical disadvantages of long rigid instruments.
2Ease of operation
If robotic surgical systems are implemented, then surgeon ergonomics and precision are improved, but system cost and complexity increase significantly
Solution Approach 1:
The robotic system is divided into separate master and slave manipulators that can be independently controlled and positioned. This segmentation allows the system to perform complex surgical tasks through coordinated movement of multiple degrees of freedom while maintaining modular architecture that reduces overall system complexity and cost.
Solution Approach 2:
The system employs dynamic control with macro-synchronized and micro-synchronized states, allowing the robotic manipulators to adapt their degree of freedom and movement precision based on the surgical task requirements. This dynamic capability enables the system to achieve high precision when needed while maintaining operational flexibility and reducing complexity for routine tasks.
3Adaptability or versatility
If bulky robotic systems are deployed, then remote laparoscopy capabilities are provided, but access to the patient and surgeon intervention are impaired
Solution Approach 1:
The robotic system uses multiple independent telemanipulators that can be positioned around the patient without requiring a single bulky console. This segmented approach allows the surgeon to access the patient directly when needed while maintaining remote laparoscopy capabilities through the robotic manipulators.
Solution Approach 2:
The robotic telemanipulators serve as intermediaries between the surgeon and the surgical site, enabling remote operation while preserving the surgeon's ability to intervene directly. The system acts as a flexible mediator that can be deployed or retracted as needed, unlike fixed bulky robotic systems that permanently occupy surgical space.
4Extent of automation
If non-sterile consoles are used, then remote surgery control is achieved, but surgeon sterility requirements are compromised
Solution Approach 1:
The master manipulator handle serves as a sterile intermediary that the surgeon can directly touch while maintaining sterility. The handle is designed to be sterilizable and can be removed from the non-sterile master console for sterilization, allowing the surgeon to maintain direct tactile feedback while meeting sterility requirements.
Solution Approach 2:
The system copies control functions from a non-sterile console to a sterile handle that the surgeon directly manipulates. This allows remote surgery control capabilities to be maintained while the interface the surgeon touches can be sterilized, separating the sterile and non-sterile components of the control system.
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 integrateable 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.