Surgical Robotic System Checkpoint Navigation
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Solution Overview
Problem
Current surgical robotic systems are complex and time-consuming due to the frequent movement of instruments and cameras during minimally invasive procedures, which increases procedure duration and anesthesia requirements, and can result in camera fogging that requires removal and cleaning.
Innovation Solution
A surgical robotic system that stores navigation position checkpoints for laparoscopic cameras and instruments, allowing for manual or automatic saving and recall of these positions, enabling the system to automatically move the camera and instruments to pre-defined checkpoints, facilitating efficient navigation and reducing procedure time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the camera and instruments are manually repositioned multiple times during the surgical procedure, then the surgeon can navigate around ports and instruments, but the procedure duration increases and complexity increases
Solution Approach 1:
The system pre-records navigation paths and instrument positions during setup and previous surgical steps. When navigation is needed, the robotic system automatically retrieves and executes these pre-recorded paths, eliminating the need for manual repositioning and reducing procedure time.
Solution Approach 2:
The system continuously monitors the positions of instruments and camera, comparing them against the recorded navigation paths. When deviations occur or repositioning is needed, the system provides feedback to automatically adjust positions, reducing manual intervention and procedure time.
2Reliability
If the camera is removed from the patient cavity for cleaning when it fogs up, then the camera can be cleaned and replaced, but the procedure is disrupted and time is lost
Solution Approach 1:
The system records the camera position and navigation context before removal. When the camera needs cleaning, this pre-recorded information enables rapid repositioning upon return, minimizing procedure interruption. The system also prepares alternative viewing angles in advance.
Solution Approach 2:
The system creates a digital record (copy) of the surgical field and instrument positions. When the camera is removed for cleaning, this copied information is stored and used to quickly restore the viewing angle upon return, eliminating the need for manual re-navigation.
3Adaptability or versatility
If multiple instruments and camera are moved frequently during the procedure, then the surgeon can access different anatomical sites, but the anesthesia dose required increases
Solution Approach 1:
The system pre-plans and records optimal instrument paths to multiple anatomical sites. During surgery, instruments automatically follow these pre-calculated paths, minimizing unnecessary movements and reducing the cumulative effect on anesthesia requirements while maintaining access to all needed sites.
Solution Approach 2:
The system replaces manual surgeon manipulation with automated robotic positioning. The robotic system executes precise, minimal-movement trajectories to access anatomical sites, reducing the frequency and magnitude of instrument movements compared to manual operation, thereby lowering anesthesia requirements.
4Ease of operation
If the surgeon manually retraces paths when reinserting instruments after camera cleaning, then the instruments can be repositioned, but the complexity and time increase
Solution Approach 1:
The system creates and stores digital copies of instrument positions and navigation paths at each surgical step. When instruments need to be repositioned after camera cleaning, the system retrieves these copied position records and automatically restores the instruments to their previous positions, eliminating manual retracing and reducing operational complexity.
Solution Approach 2:
The system continuously compares current instrument positions with the stored navigation paths and provides feedback control. When repositioning is needed, the system automatically guides instruments along the recorded paths, reducing the cognitive and manual burden on the surgeon while maintaining surgical flexibility.
Data Source
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AI summary
A surgical robotic system includes a surgical robotic arm having a surgical device and an instrument drive unit configured to actuate the surgical device. The system also includes a surgeon console configured to receive user input to control at least one of the surgical robotic arm or the surgical device. The system further includes a control tower coupled to the surgical robotic arm and the surgeon console. The control tower includes a storage device and a controller configured to store a plurality of checkpoints on the storage device. Each checkpoint of the plurality of checkpoints includes image data of a surgical site and position data corresponding to a prior position of the surgical robotic arm during a surgical procedure. The controller is also configured to output a graphical user interface (GUI) on a display screen. The GUI is configured to display the image data of at least one checkpoint of the plurality of checkpoints and to receive user input selecting the checkpoint. The controller is further configured to control the surgical robotic arm to move the surgical robotic arm to the prior position based on the selected checkpoint.