Compact Telemanipulator for Microsurgery Tremor Reduction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current microsurgical equipment is physically demanding and limits precision and dexterity due to its size, weight, and lack of compatibility with existing visualization systems, leading to a mismatch between surgeon capabilities and patient demand, and increased waiting lists for procedures.
Innovation Solution
A compact, lightweight mechanical telemanipulator system that replicates the surgeon's hand movements with scaled-down precision and force feedback, compatible with surgical microscopes and loupes, allowing for ergonomic posture and intuitive manipulation, using fully mechanical technology without electronics or actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional microsurgical instruments are used, then the surgeon can perform basic microsurgical tasks, but the surgeon experiences physical discomfort and reduced precision over time due to strained posture and high muscle activity
Solution Approach 1:
The patent replaces the direct mechanical control system with a robotic system that uses computerized interfaces and electronic actuators to control surgical instruments. The robotic master-slave system converts surgeon's hand movements into precise instrument movements through electronic signal processing, eliminating the need for surgeon's forearms to be in strained positions while maintaining high precision through automated tremor filtering and motion scaling algorithms.
Solution Approach 2:
The patent divides the surgical system into separate functional modules: a master manipulator for surgeon input, a slave manipulator for instrument control, and independent visualization systems. This segmentation allows the surgeon to operate from a comfortable position while the robotic system handles the precise positioning and manipulation tasks, separating the ergonomic requirements from the precision requirements.
2Manufacturing precision
If the surgeon maintains optimal arm and hand posture for precision, then dexterity is improved, but the surgical area access is restricted and optimal posture becomes impossible
Solution Approach 1:
The robotic system replaces the surgeon's direct mechanical manipulation with automated control algorithms that can achieve optimal instrument positioning regardless of surgical site geometry. The slave manipulator's degrees of freedom are independently controlled through electronic actuators, allowing access to confined spaces that would be inaccessible to the surgeon's arm while maintaining precise control through software-based motion planning.
Solution Approach 2:
The patent introduces additional degrees of freedom in the robotic manipulator design, allowing movement in multiple dimensions and orientations. This enables the instrument to reach surgical areas that are geometrically constrained, providing access from angles and positions that would be impossible for the surgeon's arm while maintaining precision through electronic control of each joint's position and velocity.
3Ease of operation
If robotic systems are introduced to improve ease of operation, then surgeon comfort is enhanced, but device complexity and size increase
Solution Approach 1:
The robotic master manipulator is designed with multiple functional capabilities integrated into a single device: it provides ergonomic hand support, tremor filtering, motion scaling, and intuitive control interfaces. The slave manipulator similarly integrates positioning, instrument holding, and precise manipulation functions. This multi-functionality reduces the need for multiple separate devices while providing comprehensive assistance to the surgeon.
Solution Approach 2:
The patent introduces a computerized control system as an intermediary between the surgeon's intentions and the instrument movements. This intermediary processes surgeon inputs, applies tremor filtering algorithms, performs motion scaling calculations, and generates actuator commands. While this adds electronic complexity, it enables the ergonomic benefits of remote operation and the precision benefits of automated control without requiring the physical presence of the surgeon's arm in the surgical field.
4Ease of operation
If existing robotic systems are used, then ease of operation is improved, but compatibility with existing visualization systems is lost
Solution Approach 1:
The robotic system is designed to work with multiple visualization modalities simultaneously. The master manipulator provides intuitive control that complements various surgical viewing systems including microscopes, loupes, and video displays. The slave manipulator's movements are coordinated with the visualization system's field of view, allowing the surgeon to maintain natural hand-eye coordination regardless of which visualization modality is used. This universal compatibility enables seamless integration with existing surgical workflows and equipment.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
This system is composed by mechanical telemanipulators, with master-slave configurations, working together with suitable solutions for image acquisition and display, which are able to transmit, with optional magnification, images from the surgical area to the surgeon. Therefore, the surgeon's capacities and comfort are increased by enhancing the surgeon's motor and visual skills as well as the ergonomics while doing different surgical tasks through access incisions on the patient body. Aside from offering improved performance during procedures involving microsurgical techniques, this system also brings safety, intuitiveness, and cost-effectiveness advantages over current alternatives. Due to the compatibility with current visualization systems for microsurgery, together with the light weight and the compact configuration of the mechanical telemanipulator, this surgical system can be very easily brought to and removed from the surgical area, which enables its intermittent use on several surgical procedures requiring microsurgical techniques. Therefore, it does not require drastic changes in the workflow and setup of current operating rooms and can be more easily adopted by several surgical teams.