Steerable Overtube Assembly With Dual Manual-Robotic Steering
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Solution Overview
Problem
Existing robotic surgical systems, particularly for endoluminal and single-site surgery, lack improved steering mechanisms that enhance manual and robotic control for minimally invasive procedures, limiting their effectiveness and flexibility.
Innovation Solution
A steerable overtube assembly with a manual actuator and a robotic actuator, positioned on opposite sides of a control hub, allowing for manual and robotic steering, and featuring concentric or non-concentric independent actuators for orthogonal control in multiple planes, enabling precise maneuvering of surgical instruments within a patient's body lumens.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic actuator is integrated into the overtube assembly, then robotic steering precision is improved, but device complexity increases
Solution Approach 1:
The robotic actuator is integrated directly into the control hub of the overtube assembly, merging the robotic steering mechanism with the existing manual control structure. This consolidation allows the system to achieve robotic steering precision while managing complexity through unified design of the control interface.
Solution Approach 2:
The control hub is designed to accommodate both manual and robotic actuators, creating a multi-functional control interface. The same structural platform serves dual purposes: manual manipulation when the robotic actuator is disconnected, and robotic steering when connected to the robotic driver, thereby improving precision without proportionally increasing complexity.
2Ease of operation
If both manual and robotic actuators are positioned on opposite sides of the control hub, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The control hub is segmented into distinct zones for manual and robotic actuators on opposite sides. This spatial segmentation allows each actuator type to be optimally positioned for its specific operational requirements while maintaining overall system organization. The segmentation enables independent optimization of manual manipulation ergonomics and robotic interface connectivity.
Solution Approach 2:
The control interface is extended into the spatial dimension by positioning actuators on opposite sides of the control hub rather than stacking them vertically or radially. This dimensional arrangement provides improved accessibility and ergonomic reach for manual operation while simultaneously providing optimal mounting surfaces for robotic actuators, effectively using spatial arrangement to resolve the complexity-accessibility trade-off.
3Manufacturing precision
If concentric independent actuators are used for orthogonal control, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The concentric actuator configuration uses a nested arrangement where independent actuators are positioned concentrically within the control hub. This nesting allows for compact integration of multiple independent control elements that provide orthogonal movement capabilities. The nested structure enables precise manufacturing of each actuator component while maintaining overall system compactness and reducing the complexity of assembling multiple independent control mechanisms.
Data Source
AI summary
A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channel and a control hub configured to mount to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.