Soft Robotic Laparoscopic Instrument Shape Adaptation

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Solution Overview

Problem

Conventional laparoscopic instruments are rigid, limiting their ability to conform to different surgical environments, pose a risk of tissue injury due to hard features, and can cause electrical arcing during electrosurgery, restricting their application and requiring extensive surgeon training to avoid complications.

Innovation Solution

Soft robotic instruments with pressurizable fluid networks and elastomeric materials that can change shape and mechanical properties, reducing the risk of tissue damage and electrical arcing by using pneumatic or hydraulic pressure to control actuators that can bend, twist, and grasp tissue without the need for large surgical access ports.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If rigid materials are used for laparoscopic instruments, then articulation and grasping capability are improved, but the risk of tissue injury increases and adaptability to different surgical environments deteriorates

Engineering Contradiction:

Improvearticulation and grasping capabilityVSAvoidrisk of tissue injury

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The instrument shaft is constructed from flexible materials including shape memory alloys and elastomeric polymers that can bend and conform to anatomical structures while maintaining sufficient structural integrity for surgical manipulation, replacing traditional rigid metal and plastic construction

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The instrument utilizes phase transition materials that change their mechanical properties (rigidity, flexibility) in response to temperature or other environmental parameters, allowing the shaft to be rigid during insertion and become flexible during surgical operation to reduce tissue trauma

Inventive Principle:

Principle #35Parameter changes

2Strength

If rigid structures are used for laparoscopic instruments, then mechanical strength is improved, but adaptability to different anatomical environments deteriorates

Engineering Contradiction:

Improvemechanical strengthVSAvoidadaptability to different anatomical environments

Core Design Contradiction:

StrengthVSAdaptability or versatility

Solution Approach 1:

The instrument shaft incorporates materials and structures that dynamically adjust their mechanical properties during use, including shape memory alloys that change form in response to temperature changes and self-adjusting flexible structures that adapt to varying anatomical geometries

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The shaft is constructed from composite materials combining shape memory alloys with elastomeric polymers, creating a structure that exhibits both strength and flexibility, allowing the instrument to maintain structural integrity while adapting to different anatomical environments

Inventive Principle:

Principle #40Composite materials

3Power

If metallic surfaces are used for electrosurgery, then electrical conductivity is improved, but the risk of electrical arching and patient injury increases

Engineering Contradiction:

Improveelectrical conductivityVSAvoidelectrical arching and patient injury

Core Design Contradiction:

PowerVSObject-affected harmful factors

Solution Approach 1:

The instrument replaces traditional metallic electrosurgical surfaces with alternative mechanisms for achieving surgical effects, such as mechanical cutting edges, thermal ablation through resistive heating of non-metallic conductors, or ultrasonic vibration, thereby eliminating electrical arching hazards

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The shaft and end effector components are covered with electrically insulating elastomeric polymer coatings that prevent electrical arcing while allowing controlled electrical heating for electrosurgical applications, creating a safe interface between electrical energy delivery and tissue

Inventive Principle:

Principle #30Flexible shells and thin films

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

Facilitates minimally invasive surgery with reduced trauma to tissues, mitigates the risk of electrical arcing, and allows for more versatile surgical procedures by adapting to different anatomical environments without the need for large incisions or rigid structures.

Implementation Method 1

soft robotic instruments with pressurizable fluid networks and elastomeric materials that can change shape and mechanical properties, reducing the risk of tissue damage and electrical arcing by using pneumatic or hydraulic pressure to control actuators

Methodology Applied

Scientific EffectPneumatic pressure: Pressure Increase

Implementation Method 2

Methodology Applied

Scientific EffectHydraulic pressure: Pressure Increase

Implementation Method 3

Soft robotic instruments with pressurizable fluid networks and elastomeric materials that can change shape and mechanical properties

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS10208925B2Soft conformal laparoscopic instrument

Publication Date: 2019.02.19 SOFT ROBOTICS INC

AI summary

A soft robotic instrument that is capable of changing its form factor (e.g., expanding and contracting) during use to facilitate minimally invasive surgery. The instrument may be formed wholly or partly of an elastomeric, electrically insulating material for mitigating the risk of injuring tissue and for mitigating the risk of electrical arcing during electrosurgery.