Surgical Instrument Positioning via Micro Manipulator
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Solution Overview
Problem
Current surgical instrument positioning systems lack precise and adjustable mechanisms for navigating instruments within the brain, particularly in stereotactic procedures, where accurate linear and angular adjustments are crucial for minimizing tissue displacement and ensuring precise targeting.
Innovation Solution
The system employs a micro manipulator with multiple adjustment assemblies, including linear and angular adjustment mechanisms, integrated with articulated arms and a head fixation device, allowing for precise positioning and trajectory control of surgical instruments within the brain, minimizing tissue displacement and ensuring accurate targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional surgical instrument positioning systems are used, then basic instrument positioning is achieved, but precise and adjustable mechanisms for navigating instruments within the brain are lacking
Solution Approach 1:
The positioning system is divided into multiple independent adjustment assemblies (first adjustment assembly, second adjustment assembly, third adjustment assembly, fourth adjustment assembly), each responsible for specific linear or angular adjustments. This segmentation allows precise control of instrument positioning while keeping each individual mechanism relatively simple and manageable.
Solution Approach 2:
The adjustment assemblies are nested within the articulated arm structure, with each adjustment mechanism integrated into the framework of the previous one. The micro manipulator is positioned within the articulated arms, which are mounted on the head fixation device, creating a nested configuration that achieves high precision through hierarchical integration.
2Adaptability or versatility
If multiple adjustment assemblies are integrated into the micro manipulator, then linear and angular adjustments are enabled, but the device complexity increases
Solution Approach 1:
Each adjustment assembly serves multiple functions: they provide both linear and angular adjustment capabilities, and can be independently controlled to achieve various instrument orientations. The first and second adjustment assemblies provide linear adjustments along different axes, while the third and fourth provide angular adjustments, allowing a single integrated system to perform multiple positioning functions.
Solution Approach 2:
The adjustment assemblies are designed to be dynamically adjustable during the surgical procedure. The mechanisms allow real-time modification of instrument position and orientation through controlled movement of adjustment members, enabling adaptability to changing surgical requirements without requiring system redesign.
3Manufacturing precision
If articulated arms with multiple adjustment mechanisms are used, then instrument trajectory control is improved, but the risk of tissue displacement increases
Solution Approach 1:
The system incorporates navigation components that provide real-time feedback on instrument position and trajectory. This feedback mechanism allows continuous monitoring and adjustment of instrument placement to ensure accuracy while preventing excessive tissue displacement through controlled, monitored movements.
Solution Approach 2:
The adjustment assemblies are designed to perform preliminary positioning and trajectory planning before final instrument insertion. By establishing the correct path and position in advance through controlled adjustments, the system minimizes the risk of tissue displacement during the actual surgical intervention.
Data Source
AI summary
A surgical instrument positioning system includes articulating arms for coarse adjustment and a micro manipulator connectable to the articulating arms for fine adjustment. The micro manipulator selectively holds the surgical instrument and is operable to adjust the position of the surgical instrument. The micro manipulator includes two adjustment assemblies for providing linear adjustment and two adjustment assemblies for providing rotational adjustment. Features of the system also provide for control of the amount of free movement or play within the micro manipulator. Also a stop feature works in conjunction with the adjustment assemblies to maintain the tip of the instrument at an intersection of the two rotational axes facilitating rotational adjustment of the micro manipulator without linear displacement of the instrument tip.