Snare Tool Manipulator for Flexible Device Support
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Solution Overview
Problem
Current flexible device systems, such as continuum devices, face limitations in exerting force and dexterity, especially in minimally invasive surgical procedures, where navigating and manipulating small diameter devices through complex patient anatomy is challenging due to the need for support from a single port entry point, leading to increased incision size and reduced clinical benefit.
Innovation Solution
The integration of snare tools that can grasp and manipulate flexible devices, allowing for partial or complete relocation of support from the device itself to the snare tool's location, enabling enhanced dexterity and force exertion through robotic or manual actuation, including pushing, pulling, rotating, bending, and translating the flexible device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If a single port approach is used for deploying flexible devices, then the incision size is reduced, but the support capability for the flexible device deteriorates
Solution Approach 1:
The system divides the support function into multiple segments: the flexible device provides primary navigation and positioning, while snare tools provide auxiliary support and manipulation. This segmentation allows the incision to remain small while distributing the support load across multiple independent components that can be deployed through the same small port.
Solution Approach 2:
Snare tools serve as intermediary structures that bridge the gap between the limited support available at the single port entry and the manipulation requirements at remote surgical sites. The snare tools grasp the flexible device and provide additional leverage and support, effectively extending the capabilities of the single port system without requiring larger incisions.
2Area of moving object
If the flexible device is made with small diameter for minimally invasive procedures, then the incision size is reduced, but the force exertion capability deteriorates
Solution Approach 1:
The system merges the capabilities of the small-diameter flexible device with the support and force multiplication capabilities of snare tools. The flexible device maintains its small diameter for minimally invasive deployment, while the snare tools, when engaged with the flexible device, provide additional force exertion capability through mechanical advantage and leverage.
Solution Approach 2:
Snare tools act as intermediary force multiplication devices that interface with the small-diameter flexible device. By grasping the flexible device at strategic points, the snare tools provide mechanical leverage that amplifies the force exertion capability of the thin flexible device, enabling it to perform tasks requiring greater force without increasing its diameter.
3Device complexity
If the flexible device is used alone for navigation, then the device complexity is reduced, but the dexterity at remote sites deteriorates
Solution Approach 1:
The system segments the navigation and manipulation functions between the flexible device and snare tools. The flexible device handles primary navigation to remote sites, maintaining relative simplicity, while snare tools provide enhanced dexterity for manipulation tasks. This functional segmentation allows each component to be optimized for its specific role without excessive complexity.
Solution Approach 2:
Snare tools serve as intermediary manipulation devices that enhance the dexterity of the flexible device at remote sites. By engaging with the flexible device through snare loops or grasping mechanisms, the snare tools provide additional degrees of freedom and manipulation capability, effectively extending the dexterity of the simple flexible device without requiring complex integrated mechanisms.
Data Source
AI summary
A snare tool manipulator system includes an elongated flexible device having a length and including a distally mounted end effector configured to perform a task. The flexible device is operable to manipulate the end effector in order to perform the task. The system also includes an elongated snare tool including a distally mounted snare device configured for grasping the flexible elongated member at a position along its length. The snare tool is operable robotically to manipulate the flexible device which in response manipulates the end effector.