Segmented Robotic Arms for Minimally Invasive Surgery
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Solution Overview
Problem
Current minimally invasive surgical technologies, such as laparoscopy and robotic systems like the da Vinci Surgical System, face limitations due to mobility restrictions and limited sensory and visual feedback, making them inadequate for complex surgical procedures.
Innovation Solution
A robotic surgical system comprising a robotic device that can be positioned completely within a patient's body cavity, featuring movable segmented arms with motors, a support structure for partial external control, and various operational components like grasping, cauterizing, or imaging, allowing for enhanced mobility and sensory feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic systems like da Vinci Surgical System are used, then surgical precision and control are improved, but device size and cost increase significantly
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms, each capable of performing surgical tasks autonomously. This segmentation allows the system to achieve high surgical precision through specialized end effectors while reducing the overall device complexity by distributing functions across separate modular units rather than requiring a single large integrated system
Solution Approach 2:
The robotic arms are designed with universal end effectors that can perform multiple surgical functions including grasping, cutting, and suturing. This multi-functionality reduces the need for numerous specialized tools and large device configurations, thereby improving surgical precision while controlling device size and complexity
2Loss of information
If rigid tools are inserted through access ports, then visual feedback is limited, but mobility restrictions are imposed
Solution Approach 1:
The robotic arms utilize flexible articulated structures with multiple degrees of freedom, allowing them to navigate through small access ports while maintaining mobility within the body cavity. This flexible design eliminates the need for rigid tools, improving both visual feedback capabilities and operational mobility simultaneously
Solution Approach 2:
The robotic system employs dynamic, reconfigurable arms that can change their configuration and degree of freedom based on surgical requirements. This dynamic capability allows the system to pass through restricted access ports and then expand its mobility range within the body cavity, resolving the contradiction between limited access and operational flexibility
3Object-affected harmful factors
If minimally invasive procedures are performed, then patient recovery is improved, but surgical capability is restricted
Solution Approach 1:
The robotic arms are designed with nested, telescopic structures that allow compact insertion through small access ports for minimally invasive procedures. Once positioned, the arms can extend and deploy specialized end effectors to perform complex surgical tasks, thereby maintaining patient recovery benefits while expanding surgical capability and versatility
4Ease of operation
If support structure is positioned through orifice, then device accessibility is improved, but procedural complexity increases
Solution Approach 1:
The support structure is divided into multiple segments that can be inserted and positioned independently through the orifice. This segmentation simplifies the access procedure by allowing step-by-step assembly and positioning, reducing the overall procedural complexity while maintaining improved device accessibility
Data Source
AI summary
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.