Surgeon Input Tool With Offset Lever Pivot Axis
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Solution Overview
Problem
Current surgical robotic systems face inefficiencies in instrument exchange processes, requiring secure user handling and safe positioning relative to moving robotic manipulators to ensure robust and safe instrument exchange, while also accommodating varying degrees of freedom and instrument complexity.
Innovation Solution
The development of a surgeon input tool with a fixed grip and moving lever, equipped with encoders and haptic feedback, allows for intuitive and comfortable user input to control robotic surgical instruments, enabling efficient instrument exchange and operation in multiple degrees of freedom, including jaw open-close and axial roll motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional surgical robotic systems use rigid shaft instruments with fixed support or inactive manipulators, then instrument stability is maintained, but instrument exchange efficiency decreases and requires secure user handling
Solution Approach 1:
The patent transforms the fixed support system into a dynamic robotic manipulator that can actively hold and position instruments. The manipulator includes actuators that can dynamically adjust instrument position and orientation, allowing the system to transition between stable holding mode and efficient exchange mode as needed
2Measurement precision
If multiple actuators are positioned in the terminal portion of the robotic manipulator, then instrument control precision is improved, but device complexity increases
Solution Approach 1:
The patent divides the actuation system into multiple independent actuators positioned at the terminal portion of the manipulator. Each actuator controls a specific degree of freedom (jaw open-close, shaft articulation, axial roll), allowing precise control of each instrument function while enabling modular design and independent optimization of each actuator
3Adaptability or versatility
If surgical instruments are electromechanically actuated within the patient's body, then instrument functionality is enhanced, but safety risks increase due to moving parts near the surgical site
Solution Approach 1:
The patent introduces a robotic manipulator as an intermediary between the surgeon's control inputs and the surgical instrument. The manipulator acts as a safe mediator that isolates the surgeon from direct contact with moving instrument parts while still enabling precise control of all instrument functions through remote actuation
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
The tool enhances the efficiency and safety of instrument exchange by providing secure and ergonomic user input, allowing for precise control of surgical instruments with haptic feedback, thereby minimizing surgical procedure time and optimizing operating room personnel efficiency.
Implementation Method 1
equipped with encoders and haptic feedback
Implementation Method 2
equipped with encoders and haptic feedback
Data Source
AI summary
A user input tool for providing input to a robotic surgical system for use in commanding motion of the robotic manipulator has a grip positionable in contact with a palm of a user. A lever is mounted to the grip and pivotable relative to the grip around a lever pivot axis. The lever pivot axis is offset from, and parallel to, the joint pivot axis.