Steerable Medical Robot with Lockable Continuum Channel
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Solution Overview
Problem
Traditional surgical methods, such as open body surgery and minimally invasive surgery, result in scars, increased infection risk, and complications like hernia and adhesions, while natural orifice surgery and single port access surgery have limitations in accessing anatomical cavities safely and effectively.
Innovation Solution
A flexible, steerable, and selectively lockable medical robot with a continuum segment design that forms a stable access channel, using a backbone of super-elastic NiTi wires to maintain tip orientation and deployable tools, and incorporates bracing mechanisms for secure positioning within anatomical structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a flexible channel is used to access deep anatomical cavities, then the operating range and safety are improved, but the channel stability and positioning precision deteriorate
Solution Approach 1:
The channel transitions from a flexible state during navigation to a locked rigid state during surgery. The locking mechanism allows the channel to dynamically change its mechanical properties, maintaining flexibility when needed for access while providing rigidity when needed for surgical stability and precision.
Solution Approach 2:
The mechanical properties of the channel are changed by altering its structural state through locking mechanisms. By changing parameters such as rigidity and dimensional stability through the locking system, the channel can adapt between flexible navigation mode and stable surgical mode, resolving the contradiction between adaptability and stability.
2Stability of the object's composition
If internal and external locking channels are added to maintain channel stability, then the positioning precision is improved, but the device complexity increases
Solution Approach 1:
The locking mechanism integrates multiple functions into a unified system that combines stabilization, positioning, and support features. By merging these functions into a single coordinated mechanism rather than separate internal and external locking channels, the device achieves channel stability while minimizing structural complexity.
Solution Approach 2:
The locking mechanism serves multiple purposes simultaneously: it stabilizes the channel, positions it precisely, and provides structural support. This multi-functional design eliminates the need for separate dedicated components for each function, reducing overall device complexity while maintaining performance.
3Measurement precision
If the channel is made rigid to maintain orientation, then the positioning precision is improved, but the ability to navigate through curved anatomical paths deteriorates
Solution Approach 1:
The channel dynamically transitions between flexible and rigid states. During navigation through curved anatomical paths, the channel remains flexible to conform to the pathway. Once positioned, the locking mechanism engages to rigidify the channel and precisely maintain tip orientation, thus resolving the contradiction between navigation adaptability and positioning precision.
Solution Approach 2:
The channel is divided into segments that can flex relative to each other during navigation, allowing the distal tip to reach curved locations. The locking mechanism then secures the relative positions of these segments, transforming the flexible segmented structure into a rigid unified structure that maintains precise orientation for surgery.
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
Enables safe, quick, and precise deep access into anatomical cavities, reducing tissue damage and enhancing surgical precision by providing a stable pathway for surgical tools and robots, while minimizing mechanical complexity and maintaining tip orientation during shape changes.
Implementation Method 1
using a backbone of super-elastic NiTi wires to maintain tip orientation
Data Source
AI summary
A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.