Surgical Instrument Positioning Mechanism with Master-Slave Control
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Solution Overview
Problem
Current methods for positioning and holding surgical instruments during minimally-invasive surgery, such as endoscopes and retractors, are inefficient due to reliance on assistants, stationary arms, or expensive robotic devices, which suffer from communication issues, fatigue, and lack of user control, leading to instability and inefficiency.
Innovation Solution
A positioning mechanism incorporating a push-pull element and pivoting element, actuated by a control unit, allowing for precise manipulation of instruments with multiple degrees of freedom, enabling direct user control and secure holding without the need for assistants, using a master-slave control system with arresting features for safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an assistant is used to hold the endoscope, then the surgeon can use both hands for surgery, but the assistant may get tired, lose concentration, and allow the endoscope position to drift
Solution Approach 1:
The positioning mechanism allows the surgeon to self-adjust the endoscope position using a control mechanism integrated into the system. The surgeon can directly manipulate the endoscope position through a control handle or interface, eliminating the need for an assistant while maintaining position stability through direct control and feedback mechanisms.
Solution Approach 2:
The manual mechanical control by an assistant is replaced with an automated or semi-automated positioning mechanism that includes motors, sensors, and control circuits. This mechanical substitution provides stable, fatigue-free positioning while allowing the surgeon to control the system through simplified interfaces.
2Reliability
If stationary adjustable arms are used to hold the endoscope, then the endoscope can be positioned, but the surgeon must reach over to adjust them with two hands, wasting valuable time
Solution Approach 1:
An intermediary control mechanism is introduced between the surgeon and the endoscope positioning system. The control handle or interface acts as an intermediary that translates the surgeon's simple hand movements into precise endoscope positioning adjustments, eliminating the need for the surgeon to directly manipulate the positioning arms with two hands.
Solution Approach 2:
The positioning system transitions from static adjustable arms to a dynamic, actively controlled mechanism. The endoscope position can be adjusted in real-time through the control mechanism, allowing rapid repositioning without requiring the surgeon to physically reach over and manually adjust stationary arms.
3Extent of automation
If voice-controlled robotic positioning devices are used, then automated positioning is achieved, but they are expensive, require significant set-up effort, and are difficult to communicate with
Solution Approach 1:
The patent employs simpler, more cost-effective positioning mechanisms compared to expensive voice-controlled robotic systems. The design uses straightforward mechanical or electromechanical components that are easier to set up and maintain, providing adequate automation without the complexity and cost of advanced voice recognition systems.
Solution Approach 2:
The positioning system is designed to be easily configured and operated by the surgeon themselves without requiring extensive setup or specialized communication protocols. The control mechanism provides intuitive, direct control that eliminates the complexity of voice recognition systems while maintaining automated positioning capabilities.
4Measurement precision
If a positioning mechanism with multiple degrees of freedom is used, then precise instrument positioning is achieved, but the device complexity increases
Solution Approach 1:
The positioning mechanism is divided into multiple independent degrees of freedom, each controlled by separate actuators and control mechanisms. This segmentation allows precise control of each positional parameter (X, Y, Z coordinates and orientation angles) while maintaining modularity that simplifies the overall design and control architecture.
Solution Approach 2:
The positioning mechanism is designed with multi-functional components that can handle multiple degrees of freedom using similar mechanical principles and control strategies. This universality reduces overall complexity by reusing design patterns and control algorithms across different axes and movements.
Data Source
AI summary
A positioning system is provided for use in remotely-controlled surgical procedures. Also provided are methods of manufacture and use of such a positioning system. The positioning system may hold an instrument, and may provide multiple degrees of freedom of movement to the instrument. The positioning system may be coupled to a control unit, such that manipulation of the control unit results in movement of the positioning mechanism, thereby eliminating the need to manually hold and position the instrument. According to some aspects, the positioning system may be hydraulically actuated.