Segmented In Vivo Robotic Arms for Precise Minimally Invasive Surgery
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Solution Overview
Problem
Existing minimally invasive surgical technologies, such as laparoscopy and robotic systems like the da Vinci® Surgical System, are limited by mobility restrictions, visual feedback, and high costs, making them unsuitable for complex surgical procedures.
Innovation Solution
A robotic surgical system comprising a robotic device with movable segmented arms and operational components positioned entirely within a patient's body cavity, controlled via a support structure outside the patient, allowing for various surgical tasks like tissue biopsy and dissection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic systems like da Vinci Surgical System are used, then surgical precision and capability are improved, but device size and cost increase significantly
Solution Approach 1:
The robotic surgical system is divided into multiple independent robotic arms, each capable of performing specific surgical tasks. Each arm is further segmented into modular components including actuators, linkages, and end effectors, allowing the system to achieve high precision through coordinated movement of smaller, more manageable units rather than requiring a single large complex system.
Solution Approach 2:
The patent introduces a control system that acts as an intermediary between the surgeon's inputs and the robotic arms' movements. This control system processes surgical commands and translates them into precise robotic arm movements, enabling high surgical precision while keeping the physical robotic components smaller and more manageable.
2Loss of information
If rigid tools are inserted through access ports, then visual feedback is limited, but mobility is restricted
Solution Approach 1:
The robotic arms utilize flexible cables and thin-film actuators instead of rigid mechanical linkages. This allows the arms to bend and navigate through the patient's body cavities with greater freedom, improving mobility while maintaining the ability to transmit control forces and sensory information back to the surgeon.
Solution Approach 2:
The patent replaces traditional rigid mechanical transmission systems with cable-driven mechanisms and flexible actuators. This substitution allows the robotic tools to achieve complex movements and orientations within the body cavity while maintaining better visual feedback capabilities through integrated sensors and imaging systems.
3Productivity
If minimally invasive procedures are used, then patient recovery is improved, but surgical scope and complexity are limited
Solution Approach 1:
The robotic surgical system is designed with multi-functional end effectors that can perform multiple surgical tasks including cutting, grasping, suturing, and cauterization. The system can accommodate different surgical instruments and adapt to various surgical procedures, enabling complex minimally invasive surgeries that were previously not feasible through standard laparoscopic approaches.
Solution Approach 2:
The robotic arms are designed with dynamic positioning capabilities that allow real-time adjustment of tool orientation and position within the body cavity. This dynamic adaptability enables surgeons to perform complex maneuvers and access difficult-to-reach areas while maintaining the benefits of minimally invasive access, thus expanding surgical scope without compromising patient recovery.
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.