Robotic Uterine Positioning via Colpotomy Cup and Balloon
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Solution Overview
Problem
Current robotic systems for hysterectomy procedures often require clear communication between clinicians to precisely position and orient the uterus, which can lead to inconsistencies and inaccuracies due to potential breakdowns in communication.
Innovation Solution
A robotic surgical system that includes a uterine manipulator with a colpotomy cup and balloon mechanism, allowing for precise positioning and orientation of the uterus using a robotic arm, which can be controlled by a clinician to perform and maintain desired positions during procedures like hysterectomy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic arm is used to position and orient the uterus, then positioning precision is improved, but device complexity increases
Solution Approach 1:
A colpotomy cup is introduced as an intermediary device that couples the robotic arm to the uterus. The cup engages with the cervix and provides a stable interface for robotic manipulation, allowing precise positioning while isolating the complexity of the robotic mechanism from the surgical field
Solution Approach 2:
The uterine positioning system is divided into separate functional components: the colpotomy cup for engagement, the robotic arm for positioning, and the balloon for stabilization. This segmentation allows each component to be optimized independently and simplifies the overall system architecture
2Reliability
If direct robotic control of the uterus is implemented, then communication errors between clinicians are reduced, but system complexity increases
Solution Approach 1:
The robotic system autonomously positions and maintains uterine orientation based on surgical goals, eliminating the need for continuous clinician-to-clinician communication. The system self-regulates position and orientation, reducing human error while the standardized interface keeps complexity manageable
Solution Approach 2:
The system incorporates feedback mechanisms through the colpotomy cup's engagement status and balloon inflation levels, allowing the robotic controller to automatically adjust and maintain optimal uterine positioning without requiring manual communication between surgical team members
3Stability of the object's composition
If a colpotomy cup and balloon mechanism are used, then uterine positioning stability is improved, but device complexity increases
Solution Approach 1:
The colpotomy cup and balloon are merged into a single integrated device that combines mechanical engagement (cup) with inflatable stabilization (balloon). This unified structure reduces the number of separate components needed while providing both initial positioning and ongoing stability
Solution Approach 2:
The balloon is nested within or adjacent to the colpotomy cup structure, allowing the inflation mechanism to be housed within the existing device footprint. This nesting approach adds stabilization functionality without proportionally increasing overall device complexity
Data Source
AI summary
A robotic surgical system includes a control console configured to generate a set of actuation instructions. A robotic arm is in communication with the control console and is configured to actuate an instrument based on the set of actuation instructions. The control console is configured to calculate an external zone of operation for the robotic arm based on patient tracking data, the patient tracking data indicating a position of at least one external anatomical structure of the patient. The control console is further configured to calculate an instrument zone of operation for at least a portion of the instrument based on anatomical data received by the control console or instrument data received by the control console.