Surgical Arm Input Orientation for Ergonomic Retroflexion Control
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Solution Overview
Problem
Current surgical systems lack optimal control elements and methods for safely and ergonomically retroflecting articulated mechanical arms during minimally invasive surgery, particularly in gynecological procedures, which can compromise surgeon comfort and increase risk.
Innovation Solution
A surgical system with an articulated mechanical arm and dual input devices allows for controlled retroflexion of the arm using an initial input device, followed by transition to a second input device for precise reorientation and displacement, ensuring ergonomic comfort and minimizing risk during surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single input device is used to control retroflection of the surgical arm, then device complexity is reduced, but surgeon ergonomics and control precision deteriorate
Solution Approach 1:
The control system is segmented into two distinct input devices: a foot pedal for retroflection control and a handle for surgical manipulation. This segmentation allows each device to be optimized for its specific function, with the foot pedal enabling hands-free retroflection and the handle providing precise control for surgical actions, thereby resolving the contradiction between device simplicity and ergonomic operation.
2Adaptability or versatility
If the surgical arm is retroflected to enable transvaginal access, then surgical capability is improved, but risk of complications increases
Solution Approach 1:
The system performs preliminary retroflection of the surgical arm using the foot pedal before the surgical procedure begins. This preliminary action positions the arm in the required retroflected configuration for transvaginal access, allowing the surgeon to proceed with the surgical actions using the handle without needing to manipulate the arm during the procedure, thereby reducing the risk of complications during surgery.
3Manufacturing precision
If the handle member is reoriented for precise end effector control, then manufacturing precision is improved, but ease of operation deteriorates
Solution Approach 1:
The handle member acts as an intermediary device that translates surgeon hand movements into precise end effector positioning. The handle's articulated structure with multiple degrees of freedom allows it to mediate between the surgeon's natural hand movements and the complex multi-axis positioning requirements of the end effector, maintaining precision while preserving ease of operation.
Data Source
AI summary
A surgical system comprises an articulated mechanical arm comprising arm segments connected serially by arm joints that flex and rotate, and first and second input-devices. The second input-device comprises a handle configurable to be oriented in any orientation in an x-y-z space, and the handle comprises segment members and joint members corresponding to the arm segments and arm joints of the arm. The arm joints can be actuatable by, and have the same degrees of freedom as, the handle joint member. A method of using the surgical system includes retroflecting the arm, transitioning control of the arm from the first input device to the second input device, and performing a surgical action, during which a displacement vector or a reorientation arc of the handle member through the x-y-z space is translated to a corresponding displacement vector or corresponding reorientation arc of the end effector in the same x-y-z space.