Reorientable Surgical Arm Handle for Safe Retroflection Control
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Solution Overview
Problem
Current surgical systems lack optimal control elements and methods for ensuring safe and ergonomic retroflection of articulated mechanical arms during gynecological surgery, which can risk tissue damage and complicate surgical procedures.
Innovation Solution
A surgical system comprising an articulated mechanical arm with a surgical end effector and two input devices: a first input device for controlled retroflection of the arm and a second input device with a handle member that can be oriented in various selectable orientations to control the arm segments and joints, allowing for precise displacement and reorientation of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single input device is used to control both retroflection and surgical operations, then device complexity is reduced, but control precision and surgeon ergonomics deteriorate during retroflection operations
Solution Approach 1:
The control system is segmented into two distinct input devices: a foot pedal for retroflection control and a hand controller for surgical operations. This segmentation allows each device to be optimized for its specific function, with the foot pedal providing ergonomic control during retroflection without requiring hand manipulation, thereby resolving the contradiction between device simplicity and operational ergonomics.
2Device complexity
If the handle member is fixed in a single orientation, then device complexity is reduced, but adaptability to different surgical positions deteriorates
Solution Approach 1:
The handle member is designed with dynamic reorientation capability, allowing it to be rotated and tilted to match different surgical arm configurations and surgeon positions. This dynamic adjustment enables the control device to adapt to various surgical scenarios while maintaining intuitive control, resolving the contradiction between device simplicity and adaptability.
3Measurement precision
If retroflection control requires handle reorientation, then control precision is improved, but operation time and surgeon fatigue increase
Solution Approach 1:
The foot pedal acts as an intermediary control device that enables retroflection without requiring hand manipulation or handle reorientation. By transferring retroflection control from the hand controller to the foot pedal, the system achieves precise retroflection control while eliminating the time-consuming handle reorientation process and reducing surgeon fatigue.
4Object-affected harmful factors
If the surgical arm is constrained during retroflection, then tissue damage risk is reduced, but freedom of movement during surgery is limited
Solution Approach 1:
The system implements preliminary control measures during retroflection through the foot pedal, which provides controlled, gradual arm movement with built-in safety constraints. This preliminary control prevents excessive or unsafe movements that could cause tissue damage, while the subsequent hand controller provides full freedom of movement for surgical operations once the arm is properly positioned.
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.