Steerable Overtube Assembly With Manual and Robotic Steering
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Solution Overview
Problem
Conventional robotic surgical systems for endoluminal and single-site surgery lack advanced steering mechanisms that enhance maneuverability and control, particularly in accessing hard-to-reach locations within a patient's natural lumens, and there is a need for improved robotic surgical systems with enhanced manual and robotic actuation capabilities.
Innovation Solution
A steerable overtube assembly with a manual actuator and a robotic actuator, allowing for manual and robotic steering, featuring concentric or non-concentric actuators for independent control in multiple planes, and a control hub with instrument channels for medical device insertion, enabling precise positioning and access to surgical targets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robotic actuator is added to provide robotic steering capability, then the extent of automation is improved, but the device complexity increases
Solution Approach 1:
The patent merges the manual actuator and robotic actuator into a single integrated control hub assembly. The control hub serves as a common mounting structure for both actuators, allowing them to share structural components and control mechanisms. This integration enables seamless switching between manual and robotic modes while reducing overall system complexity compared to having separate control systems.
Solution Approach 2:
The control hub is designed as a multi-functional component that accommodates both manual and robotic actuators. It provides universal mounting interfaces, common structural support, and integrated control capabilities for both actuation modes. This universal design allows the same hub structure to serve dual purposes, reducing the need for separate dedicated components for each actuator type.
2Ease of operation
If multiple independent actuators are used for control in multiple planes, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The control system is segmented into multiple independent actuators, each responsible for controlling movement in specific planes. The first actuator handles control in one plane while the second actuator handles control in another plane, allowing independent and specialized control of each degree of freedom. This segmentation enables precise control of the steerable shaft in multiple planes while maintaining modular and manageable system architecture.
3Ease of operation
If the manual actuator and robotic actuator are positioned on opposite sides of the control hub, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The control hub is designed with asymmetric positioning of the manual and robotic actuators on opposite sides. This asymmetric arrangement optimizes accessibility for manual operation while accommodating robotic components on the opposite side. The asymmetric design allows each actuator type to be positioned where it provides the most functional benefit, improving overall ease of operation despite the non-symmetric configuration.
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.