Robotic Tissue Securing with Ultrasonic Stapling
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Solution Overview
Problem
The existing methods for securing body tissue using sutures, staples, and other fasteners are challenging due to the difficulty in concealing and accurately positioning these devices within a patient's body, especially when minimally invasive procedures are performed.
Innovation Solution
A robotic mechanism is used to position and secure body tissue using various fasteners such as sutures, staples, or screws, with the aid of imaging devices like endoscopes and MRI, and a tissue positioning assembly that includes a long thin member to transmit force and grip the tissue, allowing for precise placement and tensioning of the fasteners.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional fasteners (sutures, staples, pegs, screws) are used to secure body tissue, then the tissue can be secured, but the devices are concealed from view within the patient's body making the securing operation difficult
Solution Approach 1:
A robotic mechanism serves as an intermediary between the surgeon and the fastening devices. The robotic system includes a robotic arm with a robotic hand that can precisely position and manipulate fasteners (sutures, staples, pegs, or screws) within the patient's body, overcoming the difficulty of manually concealing and positioning these devices while maintaining surgical precision and control
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated robotic mechanical system. The robotic mechanism uses adaptive arms and controlled actuators to perform the fastening operations, substituting the surgeon's direct manual handling of concealed fasteners with a programmable robotic system that can precisely position and secure tissue while maintaining visibility and control through imaging systems
2Manufacturing precision
If robotic mechanism is used to position fasteners with precise force control, then positioning accuracy and tissue securing quality improve, but device complexity increases
Solution Approach 1:
The robotic mechanism is designed as a multi-functional system capable of handling various types of fasteners (sutures, staples, pegs, screws) and performing multiple surgical tasks. The robotic hand can adapt its grip and manipulation methods for different fastener types, and the system integrates imaging, positioning, and actuation functions, reducing the need for multiple separate devices while maintaining high precision
Solution Approach 2:
The robotic system employs controlled parameter changes in force application, position, and speed to achieve precise fastener placement. The robotic mechanism can adjust applied force within predetermined ranges, control insertion depth, and modulate manipulation speed, allowing precise tissue securing while managing system complexity through programmable parameter control rather than mechanical complexity
3Measurement precision
If multiple imaging devices (endoscope, MRI, fluoroscopic device) are used to assist in positioning fasteners, then positioning accuracy improves, but device complexity and procedure time increase
Solution Approach 1:
The patent merges multiple imaging modalities (endoscope, MRI, fluoroscopic device) into an integrated imaging system that provides comprehensive visualization for fastener positioning. The robotic mechanism coordinates these imaging devices to capture and fuse images from different perspectives and modalities, creating a unified spatial reference system that improves fastener location accuracy while managing system complexity through integrated control and image fusion algorithms
Data Source
AI summary
An improved method of securing body tissue may be performed with a robotic mechanism. The robotic mechanism may be utilized to tension a suture with a predetermined force and urge a suture retainer toward body tissue with a predetermined force. Ultrasonic vibratory energy may be transmitted to the suture retainer to effect a gripping of the suture by the suture retainer. The body tissue may be secured with a staple. Legs of the staple may be bonded together to secure the staple. The legs of the staple may be bonded together by transmitting ultrasonic vibratory energy to the legs of the staple. A tissue positioning assembly may be used to hold the body tissue in a desired position. Images of the body tissue being secured may be obtained using various known devices including one or more endoscopes, a fluoroscope, a magnetic resonance imaging device, and/or other known imaging devices.