Robotic Tool Holder With Independent Drives for Confined Surgery
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Solution Overview
Problem
Existing medical robotic systems face challenges in efficiently maneuvering and actuating multiple surgical tools within confined anatomical spaces, particularly in gynecological procedures, due to limited flexibility and adaptability in tool movement and integration.
Innovation Solution
A robotic arm system with adjustable segments allowing multi-axis movement, coupled with a tool holder that accommodates detachable tools, including an endoscope and a tissue treatment device, featuring independent drives for rotational and axial movement, and a fluid management system for precise surgical operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic arm carries multiple surgical tools simultaneously, then the versatility and adaptability of the system is improved, but the device complexity increases due to the need for independent drives and control mechanisms for each tool
Solution Approach 1:
The system divides the tool holder into separate compartments, each dedicated to holding a specific surgical tool (e.g., endoscope, resection device, ablation device). Each compartment has its own independent drive mechanism, allowing tools to be operated independently without interfering with each other. This segmentation enables the system to carry multiple tools while maintaining manageable complexity through modular design.
Solution Approach 2:
The robotic arm and tool holder system is designed to accommodate multiple types of surgical tools with different functions (viewing, resection, ablation, coagulation). The universal tool holder structure with multiple compartments allows a single robotic arm system to perform diverse surgical procedures by simply changing the tools in each compartment, thereby achieving versatility without requiring separate robotic systems for each function.
2Ease of operation
If the robotic arm uses multiple arm segments for movement, then the flexibility and precision in reaching confined anatomical spaces is improved, but the device complexity increases due to the need for precise coordination of multiple segments
Solution Approach 1:
The robotic arm is divided into multiple segments (proximal arm segment, intermediate arm segments, distal arm segment) that can move independently relative to each other. Each segment is connected through joints that allow controlled movement, enabling the arm to navigate confined anatomical spaces with high flexibility. The segmentation allows complex movements to be broken down into simpler, coordinated actions of individual segments.
Solution Approach 2:
The robotic arm is designed to move relative to multiple axes (first axis, second axis, third axis), adding dimensional freedom to the manipulation capability. This multi-axis movement allows the arm to reach into confined spaces from various angles and orientations, transforming a simple linear movement problem into a multi-dimensional solution that enhances accessibility to difficult-to-reach anatomical regions.
3Adaptability or versatility
If the tool holder allows detachable tools with independent drives, then the adaptability for different surgical procedures is improved, but the manufacturing complexity increases due to the need for precise interfaces and coupling mechanisms
Solution Approach 1:
The tool holder is segmented into separate compartments with standardized interfaces for attaching different tools. Each compartment has a consistent coupling mechanism that allows tools to be detached and reattached without affecting other tools or the robotic arm. This segmentation with standardized interfaces simplifies manufacturing by allowing modular components to be produced independently and assembled, reducing the overall manufacturing complexity while maintaining precision.
Solution Approach 2:
The system allows for parameter changes in tool configuration and positioning through adjustable mechanisms in the tool holder. The interfaces are designed with adjustable coupling parameters (such as angular and axial positioning) that can be fine-tuned to accommodate different tool geometries and surgical requirements. This flexibility in parameter adjustment simplifies manufacturing by allowing a single tool holder design to accommodate multiple tool types without requiring precision machining of every possible tool interface.
Data Source
AI summary
Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.