Robotic Uterine Manipulator With Remote Center Motion Control
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Solution Overview
Problem
Conventional uterine manipulators require manual adjustment by surgical assistants, leading to delayed surgery times and potential organ damage due to non-ergonomic movement and lack of intuitive operation.
Innovation Solution
A uterine manipulator with a housing, extension part, and tip that can be powered to adjust pitch and yaw, featuring a joint assembly with a remote center motion mechanism for ergonomic control, allowing 4-axis motion including yaw, pitch, roll, and linear movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual adjustment by surgical assistants is used, then the device can be operated, but surgery time is delayed and operation accuracy deteriorates
Solution Approach 1:
The patent replaces manual mechanical adjustment with an automated robotic system that uses motors and control algorithms to adjust the uterine manipulator's position and orientation, thereby improving surgical efficiency while maintaining ease of control through automated feedback mechanisms
Solution Approach 2:
The robotic system performs self-adjustment of the uterine manipulator based on real-time feedback from sensors and pre-programmed surgical pathways, eliminating the need for continuous manual intervention while maintaining precise control throughout the procedure
2Ease of operation
If non-ergonomic movement scheme is used, then the device can manipulate the uterus, but organ damage may occur
Solution Approach 1:
The patent implements dynamic movement patterns that adapt in real-time to the uterus's position and surrounding anatomical structures, using compliant actuators and force control to prevent excessive forces that could cause organ damage while maintaining effective manipulation capability
Solution Approach 2:
The system incorporates real-time feedback from force sensors, position sensors, and imaging systems to monitor tissue forces and adjust manipulation movements dynamically, preventing excessive forces that could cause organ damage while maintaining effective surgical control
3Measurement precision
If complex power transmission structure is used, then precise pitch and yaw control is achieved, but device complexity increases
Solution Approach 1:
The patent divides the power transmission system into modular segments, with separate actuators and transmission mechanisms for pitch and yaw control, allowing independent optimization of each degree of freedom while reducing overall system complexity through standardized interface designs
Solution Approach 2:
The system uses a serial robotic arm configuration with revolute joints that naturally provide pitch and yaw degrees of freedom through spatial arrangement rather than complex gear mechanisms, simplifying the power transmission structure while maintaining precise angular control capability
Data Source
AI summary
Disclosed is a uterine manipulator that may automatically adjust a location and a posture of a uterus according to an input of a user. The uterine manipulator according to the inventive concept may allow a motion of a total of four degrees of freedom with a rotation of a 3 degree of freedom of rolling, pitching, and yawing, and a linear movement of one degree of freedom in a forward/rearward direction, and because the tip may be adjusted in a narrow space, surgical preciseness may be enhanced. Furthermore, because the surgical operator may manipulate the uterus through a direct input, a surgical time may be shortened.