Surgical Entry Guide Inner Cylinder Advancement
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Solution Overview
Problem
In surgical systems with master-slave type surgical assist robots, the thin manipulator arms used for inserting surgical instruments and endoscopes into a patient's body cavity suffer from deformation and shaking, leading to reduced positional accuracy of these instruments and cameras during single incision laparoscopic surgery.
Innovation Solution
The surgical system incorporates an entry guide with an inner and outer cylinder, where the inner cylinder is displaced within the outer cylinder using a guide advancing device, maintaining the position and posture of surgical instruments and endoscopes, thereby reducing deformation and shaking by shortening the length of the manipulator arms extending from the entry guide.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulator arm is made thin to enable insertion through a single incision, then the ease of operation is improved, but the stability of the manipulator arm deteriorates, causing deformation and shaking
Solution Approach 1:
The entry guide is divided into an inner cylinder and an outer cylinder that can move independently. The inner cylinder can be advanced relative to the outer cylinder to provide support to the manipulator arm at different positions, thereby maintaining stability while preserving the thin design for easy insertion.
Solution Approach 2:
The inner cylinder acts as an intermediary support structure between the outer cylinder and the manipulator arm. By advancing the inner cylinder, it provides intermediate support to the manipulator arm, reducing deformation and shaking without requiring the manipulator arm itself to be thicker.
2Productivity
If the manipulator arm is extended further into the body cavity, then the productivity is improved, but the stability of the manipulator arm deteriorates due to increased deformation and shaking
Solution Approach 1:
The entry guide is segmented into movable inner and outer cylinders, allowing the inner cylinder to be advanced independently to provide support at different depths. This enables the manipulator arm to extend further into the body cavity while maintaining stability through the supportive inner cylinder.
Solution Approach 2:
The entry guide is designed with dynamic adjustability, where the inner cylinder can be advanced or retracted based on the required depth of insertion. This dynamic adjustment provides optimal support to the manipulator arm at each stage of advancement, maintaining positional accuracy throughout the procedure.
Data Source
AI summary
A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.