Robotic Uterine Manipulation System for Minimally Invasive Surgery
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Solution Overview
Problem
Current methods for uterine manipulation during minimally invasive hysterectomies are physically demanding and lack precision, as they rely on manual manipulation by surgical residents or fellows, who often face challenges due to the large footprint of surgical robots and awkward angles.
Innovation Solution
A robotic anatomical manipulation system comprising a robot with a cart and arm, a console with a joystick and user interface, a mechanical interface to hold and release an end effector, and sensors to measure force and torque, allowing for precise positioning and control of the uterus through real-time user inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual manipulation by surgical residents or fellows is used, then the procedure can be performed with simpler equipment, but the physical demand increases and precision decreases
Solution Approach 1:
The patent replaces the manual mechanical manipulation system with an automated robotic arm system. The robotic arm, controlled by a console, substitutes the human hands and physical effort of surgical residents or fellows, thereby reducing physical demand while maintaining equipment simplicity through the use of a relatively compact robotic mechanism.
Solution Approach 2:
The robotic system enables the surgeon to control the manipulation from a console, allowing the surgical team to work more efficiently. The system serves itself by automatically positioning and manipulating the anatomy according to surgeon input, reducing the physical burden on surgical staff.
2Area of stationary object
If manual manipulation by surgical residents or fellows is used, then the equipment footprint can be smaller, but the manipulation precision decreases
Solution Approach 1:
The robotic arm replaces manual manipulation, providing precise control through motorized joints and control algorithms. This substitution enables high manipulation precision while keeping the equipment footprint manageable through the use of a compact, multi-jointed robotic arm design that can operate in confined surgical spaces.
Solution Approach 2:
The robotic arm employs dynamic control with multiple degrees of freedom, allowing it to adapt its motion and positioning in real-time. This dynamic capability enables precise manipulation of the anatomy while maintaining a compact equipment footprint that can be positioned optimally in the surgical field.
3Manufacturing precision
If a robotic arm with sensors and control system is implemented, then manipulation precision improves, but device complexity increases
Solution Approach 1:
The patent implements a robotic arm with integrated sensors and control systems to replace manual manipulation. This substitution achieves high manipulation precision through force sensors, torque measurements, and computer-controlled motion, while managing system complexity through modular architecture and integration of commercial off-the-shelf components.
Solution Approach 2:
The robotic system incorporates force sensors and torque sensors that provide real-time feedback to the control system. This feedback mechanism enables precise control and monitoring of the manipulation forces, achieving high manipulation precision while managing system complexity through intelligent control algorithms that process sensor data.
4Ease of operation
If the surgeon controls from a console away from the operating table, then physical strain on surgical staff is reduced, but the system complexity increases
Solution Approach 1:
The patent introduces a console as an intermediary device that allows the surgeon to control the robotic arm from a distance. This console acts as a mediator between the surgeon's commands and the robotic system, reducing physical strain on surgical staff by eliminating the need for direct manual manipulation while managing system complexity through standardized communication protocols and control interfaces.
Data Source
AI summary
The present invention provides, in various embodiments, systems and methods for robotic manipulation of a patient's anatomy, such as the uterus, during surgical procedures.