Telescoping Insertion Axis for Robotic Surgery
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Solution Overview
Problem
Current minimally invasive robotic surgical systems face limitations in insertion axis stiffness, strength, range of motion, and form factor, which hinder surgical dexterity and visibility, and can lead to interference between manipulator arms during procedures.
Innovation Solution
A telescoping insertion axis system utilizing cables, pulleys, and linear bearings is introduced, allowing for greater stiffness and strength, a larger range of motion, and a narrower form factor, enabling one-handed instrument clutching and improved surgical field visibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional rigid insertion axis is used, then structural strength is maintained, but the range of motion and dexterity are limited
Solution Approach 1:
The insertion axis is divided into multiple telescoping segments that can extend and retract independently. Each segment maintains structural integrity while the overall assembly achieves greater range of motion through relative movement between segments.
Solution Approach 2:
The insertion axis transitions from a static rigid structure to a dynamic telescoping mechanism that can adjust its length and configuration during operation, enabling both strength and adaptability.
2Strength
If a larger form factor is used, then structural strength is improved, but surgical field visibility and accessibility are reduced
Solution Approach 1:
The telescoping segments are nested within each other, allowing the insertion axis to maintain a compact form factor when retracted while providing extended reach and strength when deployed. The nested structure eliminates the need for a large external housing.
3Adaptability or versatility
If multiple manipulator arms are used, then surgical capability is enhanced, but interference between arms increases
Solution Approach 1:
The telescoping insertion axis allows manipulator arms to dynamically adjust their reach and positioning, enabling better spatial distribution of multiple arms during surgery and reducing interference between them.
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 telescoping insertion axis system enhances surgical dexterity, reduces the likelihood of instrument arm interference, and facilitates more complex procedures like two-quadrant surgeries with a single setup, while improving responsiveness and patient safety.
Implementation Method 1
A telescoping insertion axis controlled and coupled by cables, pulleys, and linear bearings
Implementation Method 2
A telescoping insertion axis controlled and coupled by cables, pulleys, and linear bearings
Data Source
AI summary
A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.