Robotically-Assisted Surgical Device Port Positioning

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Solution Overview

Problem

In minimally invasive robotic surgery, the optimal placement of surgical ports is challenging due to variations in patient anatomy and pneumoperitoneum, leading to potential misplacement and reduced surgical efficiency and safety.

Innovation Solution

A robotically-assisted surgical device that acquires 3D data, kinematic information, and surgical procedure details to determine and display the optimal positions for multiple ports, adjusting for the position of a pre-pierced port to minimize misplacement and improve surgical robot workability.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If port placement is determined based on preoperative planning without intraoperative measurement, then the surgical procedure can be performed efficiently, but port misplacement occurs reducing surgical safety and workability

Engineering Contradiction:

Improvesurgical efficiencyVSAvoidport placement accuracy

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system performs preliminary port placement planning based on preoperative 3D data and patient anatomy before the actual surgery. This preoperative planning establishes the intended port positions, and the system then compares these planned positions with actual measured positions during surgery to detect and correct misplacements, thereby maintaining both efficiency and accuracy.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system implements feedback by measuring the actual position of pre-pierced ports during surgery and comparing it with the preoperatively planned positions. The processing unit receives measurement data, determines positional deviations, and provides feedback information to correct subsequent port placements or adjust the surgical plan, ensuring port placement accuracy while maintaining surgical efficiency.

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If multiple ports are pierced at predetermined positions, then the robotic surgery can be performed with standard protocols, but variations in patient anatomy and pneumoperitoneum cause misplacement

Engineering Contradiction:

Improveadaptability to patient variationsVSAvoidport position precision

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The system changes the parameter of port position determination from fixed predetermined positions to dynamic positions based on actual measurement data. The processing unit adjusts the planned port positions according to measured deviations caused by patient anatomy variations and pneumoperitoneum, thereby adapting to individual patient conditions while maintaining precise port placement for robotic surgery.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system replaces the mechanical approach of physically marking and piercing ports at predetermined locations with a measurement-based system using sensors and image processing. The measurement unit captures actual port positions, and the processing unit calculates corrections, substituting mechanical precision with measurement and computational methods to account for anatomical variations.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If pre-pierced ports are used without position verification, then the surgical workflow is simplified, but misplacement affects robotic robot workability and safety

Engineering Contradiction:

Improveoperational simplicityVSAvoidimpact of port misplacement on surgery

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The system introduces feedback by measuring the actual position of pre-pierced ports and providing correction information to the surgical team. This feedback mechanism allows the workflow to remain relatively simple while adding a verification step that prevents harmful misplacement effects, balancing operational simplicity with surgical safety.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The measurement unit and processing unit act as intermediaries between the preoperative planning and the actual surgical procedure. These intermediary components verify port positions and provide correction data, mediating the potential harmful effects of misplacement without significantly complicating the overall surgical workflow.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11779412B2Robotically-assisted surgical device, robotically-assisted surgery method, and system

Publication Date: 2023.10.10 MEDICAROID CORP

AI summary

A robotically-assisted surgical device assists robotic surgery with a surgical robot including a robot arm, and includes a processing unit and a display unit. The processing unit acquires 3D data of a subject; acquires kinematic information of the robot arm; acquires information of a surgical procedure for operating; acquires position planning information for a plurality of ports to be pierced on a body surface of the subject; acquires measurement information obtained by measuring a position of a first port pierced on the body surface among the plurality of ports; determines a position of at least one of remaining ports other than the first port, based on the measurement information of the position of the first port, the information of the surgical procedure, the kinematic information, and the 3D data; and causes the display unit to display information indicating the determined position of the remaining port.