Surgical Robot Integrated Control System for Single-Hole Laparoscopy
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Solution Overview
Problem
Manual single-hole laparoscopic surgeries face challenges due to complex hand-eye coordination and limited flexibility of traditional rigid surgical tools, hindering their widespread clinical adoption.
Innovation Solution
An integrated control system for a surgical robot using embedded computers, comprising a main control terminal and a controlled terminal, with remote control devices, pedals, and driving modules, enabling precise control and communication for surgical and imaging tools through a multi-lumen tube for single-hole laparoscopic procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional rigid surgical tools are used in manual single-hole laparoscopic surgery, then the surgical procedure can be performed, but the flexibility is limited and hand-eye coordination is complicated
Solution Approach 1:
The patent replaces traditional manual mechanical control with an automated robotic system. The robotic surgical tool includes a driving module with motor, transmission mechanism, and control unit that automatically executes surgical actions based on pre-planned trajectories, eliminating the need for complex manual hand-eye coordination while maintaining surgical precision
Solution Approach 2:
The robotic system performs self-positioning and self-control through integrated sensors, actuators, and control algorithms. The tool automatically adjusts its position and orientation within the single incision channel, and the control unit manages the coordination between imaging and surgical functions without requiring complex manual intervention
2Object-affected harmful factors
If multiple body surface incisions are made for porous laparoscopic surgery, then surgical tool flexibility is improved, but surgical trauma area increases
Solution Approach 1:
The patent employs a nested structure where multiple surgical tools and an imaging tool are sequentially inserted through a single incision channel. The tools are arranged in a hierarchical manner with outer protective sheaths and inner functional components, allowing multiple instruments to access the surgical site through one incision point while minimizing trauma
Solution Approach 2:
The robotic surgical tool incorporates multi-degree-of-freedom joints and articulation mechanisms that enable the tool to achieve complex spatial orientations and movements within the constrained single-incision environment. The tool can rotate, articulate, and position itself in three-dimensional space, compensating for the limited access point
3Object-affected harmful factors
If a single-hole laparoscopic surgical robot system is designed, then surgical trauma is reduced, but the system complexity increases
Solution Approach 1:
The robotic surgical tool is designed as a multi-functional integrated system that combines imaging capabilities, surgical manipulation functions, and positioning control within a single tool assembly. The tool can perform both imaging and surgical tasks, and the control system manages multiple functions through a unified architecture, reducing the need for separate dedicated devices
Solution Approach 2:
The robotic system is divided into modular components including a driving module with motor and transmission, a control unit with sensor interfaces, and interchangeable surgical instrument attachments. This segmentation allows the system to be configured for different surgical tasks while maintaining a compact single-incision interface, managing complexity through modularity
Data Source
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AI summary
This invention relates to an integrated control system for a surgical robot based on embedded computers, the system comprises a main control terminal and a controlled terminal, the main control terminal and the controlled terminal perform the exchange; a remote control device and pedals are connected with the host computer; the host computer performs the exchange of the control signals and the status signals with the controlled terminal through a control cabinet; when the pedal is depressed, the remote control device controls motions of a certain tool with which a mapping relationship is established; when the pedal is released, the corresponding motion control is cut off; wherein the certain tool is a surgical tool or an imaging tool; the host computer performs the exchange of the control signals and the status signals with the controlled terminal through a control cabinet; the control cabinet is used to implement an overall switching of the status for the integrated control system, control actions of the surgical tool driving modules and the imaging tool driving module; the actions of the surgical tool and the surgical actuator are driven by the surgical tool driving modules, \the imaging tool driving module drives a body of the imaging tool and the imaging illumination module carried by the imaging tool to move. The invention can effectively solve the problem that the manual single-hole laparoscopic surgery cannot be widely used in clinical practice.