Docking System for Mechanical Telemanipulator Master Manipulator Immobilization

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Solution Overview

Problem

Current mechanical telemanipulators with a master-slave configuration lack a safe and secure method to temporarily prevent movement of the slave manipulator, which is crucial in surgical contexts where precision and control are essential, especially during minimally invasive procedures.

Innovation Solution

A docking system that securely attaches the master manipulator to a fixed element, utilizing various configurations such as mechanical constraints and attachment mechanisms like magnets, Velcro, or matching geometries, to prevent unwanted movement of the slave manipulator, ensuring immobilization and maintaining precision during surgical procedures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the master manipulator is left free for operation, then the operator can control the slave manipulator, but the slave manipulator cannot be temporarily immobilized when the operator needs to attend to other tasks

Engineering Contradiction:

ImproveAbility to pause operation and attend to other tasksVSAvoidRisk of unintended movements of slave manipulator

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The docking system provides a pre-prepared securement mechanism that can be quickly engaged to immobilize the master manipulator. The docking station and engagement features are designed in advance, allowing the operator to safely pause operation by simply engaging the docking mechanism without complex procedures.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the master manipulator is secured to prevent movement, then the slave manipulator is immobilized safely, but the operator cannot make adjustments or changes to the system

Engineering Contradiction:

ImproveSafety of immobilizing slave manipulatorVSAvoidAbility to make adjustments or instrument changes

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system segments the manipulator into dockable modules with standardized interfaces. The master manipulator can be docked at specific engagement features located at different positions along its structure, allowing selective immobilization of certain degrees of freedom while potentially leaving others accessible for instrument changes or adjustments.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The docking system transitions the master manipulator from a fully mobile state to an immobilized state through engagement with the docking station. This dynamic state change allows the operator to securely pause operation when needed, while the modular design enables relatively quick transitions back to operational state when adjustments are required.

Inventive Principle:

Principle #15Dynamics

3Reliability

If a docking mechanism is added to the telemanipulator, then the master manipulator can be secured to prevent unwanted movements, but the device complexity increases

Engineering Contradiction:

ImproveAbility to prevent unintended movementsVSAvoidComplexity of docking system components

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The docking system is designed to be self-contained and self-explanatory, with engagement features that naturally guide the operator through the docking process. The mechanical design provides inherent feedback and alignment cues, reducing the need for complex control systems or extensive training, thereby minimizing the operational complexity despite adding structural components.

Inventive Principle:

Principle #25Self-service

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The docking system effectively prevents unintended movements of the slave manipulator, allowing for safe handling and instrument changes during surgeries, enhancing operator confidence and reducing the risk of complications during minimally invasive procedures.

Implementation Method 1

utilizing various configurations such as mechanical constraints and attachment mechanisms like magnets

Methodology Applied

Scientific EffectMagnetism: Magnetism

Implementation Method 2

utilizing various configurations such as mechanical constraints and attachment mechanisms like magnets, Velcro

Methodology Applied

Scientific EffectVelcro: Velcro

Data Source

PatentUS10864049B2Docking system for mechanical telemanipulator

Publication Date: 2020.12.15 DISTALMOTION

AI summary

A docking system for a mechanical telemanipulator is provided, optionally to be used with a mechanical telemanipulator with a master-slave configuration. The docking system is configured to allow for safe and secure immobilization of a handle or master manipulator of a mechanical telemanipulator with a master-slave configuration so as to prevent movement of a slave manipulator or instrument. While the docking element can be deployed on any mechanical telemanipulator, it can advantageously be used on a surgical platform comprising a mechanical telemanipulator with a master-slave configuration. In this context, the docking system can be used to secure the handle portion or master manipulator of the surgical platform to safely prevent undesirable movement of a slave manipulator or surgical instrument.