Self-Calibrating Co-Manipulation Arm for Laparoscopic Repositioning
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access due to the need for multiple assistants to hold and position various surgical instruments, with existing robotic systems being expensive, bulky, and requiring system-specific instruments, limiting seamless instrument positioning and workflow.
Innovation Solution
A co-manipulation surgical system with a robot arm and controller that automatically switches between passive, co-manipulation, and haptic modes, allowing for seamless positioning and manipulation of surgical instruments, including a base with motors for impedance control and an optical scanner for depth data, enabling precise instrument handling and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple assistants manually hold and position surgical instruments during laparoscopic procedures, then vision and access can be maintained, but workflow efficiency is reduced and assistant positioning becomes impractical
Solution Approach 1:
The patent replaces the manual mechanical system of assistants holding instruments with an automated robotic arm system. The robotic arm can be freely moved by the surgeon through the handle to position instruments, while motors apply impedance to compensate for instrument weight and maintain stable positioning, eliminating the need for assistants to physically hold tools in impractical positions
Solution Approach 2:
The robotic arm system allows the surgeon to directly manipulate instruments through the handle without requiring separate assistants. The system provides self-positioning capabilities where the surgeon's movements at the handle are translated to instrument positioning, and the motors automatically compensate for gravitational effects, enabling the surgeon to service their own positioning needs
2Ease of operation
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then instrument positioning is achieved, but extensive manual interaction is required to unlock, reposition, and lock tools
Solution Approach 1:
The robotic arm transitions from a static locked position to a dynamic freely movable state when the surgeon applies force through the handle. The motors dynamically adjust impedance levels - applying high impedance when stationary to hold position, and reducing impedance when movement is detected to allow free manipulation. This dynamic behavior eliminates the need for manual unlocking and locking operations
Solution Approach 2:
The system continuously monitors forces applied at the handle and automatically adjusts motor impedance in response. When the surgeon applies force exceeding a threshold, the system detects this feedback and transitions the robotic arm to a freely movable state, enabling seamless repositioning without manual intervention for locking/unlocking
3Productivity
If complex robot-assisted systems like Da Vinci Surgical System are used, then laparoscopic procedures can be enhanced with tele-operated control, but system cost and footprint become very high
Solution Approach 1:
The patent extracts only the essential robotic arm functionality needed for instrument manipulation, separating it from the complex tele-operated console system. The robotic arm can be freely moved by direct manipulation at the handle without requiring a remote surgeon console, eliminating unnecessary system components while retaining core surgical enhancement capabilities
Solution Approach 2:
The robotic arm is designed to work with standard off-the-shelf surgical instruments rather than requiring unique system-specific instruments. This universal compatibility reduces system complexity and cost by allowing surgeons to use familiar instruments, eliminating the need for specialized instrument libraries and training on entirely new operational paradigms
4Adaptability or versatility
If standard off-the-shelf surgical instruments are used with traditional robotic systems, then instrument availability is maintained, but the surgeon must learn entirely different manipulation methods
Solution Approach 1:
Instead of requiring the surgeon to adapt to the robotic system's control paradigm, the system is designed to respond naturally to the surgeon's familiar manipulation techniques. The robotic arm can be freely moved by applying forces at the instrument handle, and motors apply impedance to compensate for weight, creating a natural extension of the surgeon's hand that maintains familiar tactile feedback and manipulation methods
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances surgical precision and safety by allowing seamless instrument positioning and manipulation, reducing the need for multiple assistants and accommodating off-the-shelf instruments, while minimizing the complexity and cost associated with traditional robotic systems.
Implementation Method 1
the controller may be programmed to apply a first impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Implementation Method 2
the controller may be programmed to apply a second impedance to the robot arm in the haptic mode greater than the first impedance, thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode than in the co-manipulation mode
Implementation Method 3
an optical scanner for depth data, enabling precise instrument handling and collision avoidance
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.